METHOD FOR ASSESSING MUSCULAR FATIGUE BASED ON CONTROL OF SYNERGY PATTERNS AND DEVICE FOR IMPLEMENTATION THEREOF

摘要

FIELD: medicine.;SUBSTANCE: group of inventions relates to medicine, specifically to rehabilitation devices and robotics, in particular, to methods and systems for controlling an exoskeleton during rehabilitation of people with diseases leading to disorders of the musculoskeletal system and musculoskeletal system, as well as for use as human-machine interfaces of industrial exoskeletons. Method for assessing muscular fatigue on the basis of synergy pattern control consists in obtaining EMG signals of an exoskeleton operator from synergistic muscles participating in a functional test or a technological operation. Besides, patterns of muscular synergy are obtained with their subsequent classification for formation of control commands of exoskeleton servos. Muscle synergy patterns are formed by forming frequency and amplitude subchannels in each EMG channel and determining a correlation index of signals in frequency subchannels and a correlation index of signals in amplitude subchannels. Obtained patterns are classified by fuzzy inference unit. Based on the classification results, a decision is made on switching on the corresponding servo motors of the exoskeleton in order to assist the operator when performing a test functional test or a given process operation. Apparatus for assessing muscular fatigue comprises myoelectronic reading devices, series-connected microcomputer, first and second Bluetooth adapters, a computer and an onboard processor. Reading devices include a series-connected unit of electrodes, a biopotential amplifier and a band-pass filter, as well as in-series connected accurate rectifier, comparator, univibrator, first and second low-pass filters. Fuzzy logic inference unit contains series-connected correlation detectors unit, fuzzifiers unit, base of fuzzy decision rules and defuzzifier, output connected to onboard processor of exoskeleton.;EFFECT: reduced error in detection of muscular fatigue levels.;2 cl, 7 dwg