Abstract
The utilization of upper extremity exoskeleton robots has been proved to be a scientifically effective approach for rehabilitation training. In the process of rehabilitation training, it is necessary to detect the fatigue degree during rehabilitation training in order to formulate a reasonable training plan and achieve better training efficiency. Based on the integral value of surface electromyography (sEMG), heart rate variability, and instantaneous heart rate, this article proposes a fatigue judgment method for multi-information fusion. Based on the integral value data, the feature extraction of the bioelectrical signals were implemented separately, then the fatigue recognition was conducted using the decision-level data fusion method. The bioelectrical signal acquisition system of electromyogram signals and electrocardiograph signals was developed for upper limb exoskeleton rehabilitation robot, and the acquisition and processing of electromyogram signals and electrocardiograph signals were completed. Finally, the fuzzy logic controller with instantaneous heart rate, heart rate variability, and surface electromyography signal was designed to judge fatigue degree, including the fuzzy device, fuzzy rule selector, and defuzzifier. The moderate fatigue state data were selected for testing, and the experimental results showed that the error of fatigue judgment is 4.3%, which satisfies the requirements of fatigue judgment.
Highlights
IntroductionHigh exercise intensity can cause fatigue to the patient and even lead to muscle or bone damage[9,10]; low exercise intensity makes it difficult for patients to achieve optimal training results
In order to prevent muscle damage caused by excessive fatigue, different rehabilitation training plans should be developed according to the specific conditions of each individual, so as to achieve better rehabilitation training results.[14]
The band-pass filter designed in this article retains the surface electromyography (sEMG) signal information with the frequency of 60–250 Hz after the filter circuit, which could effectively avoid the interference of 50 Hz power frequency
Summary
High exercise intensity can cause fatigue to the patient and even lead to muscle or bone damage[9,10]; low exercise intensity makes it difficult for patients to achieve optimal training results. The training plan needs to be reasonably designed according to the patient’s fatigue condition and to accurately determine the degree of fatigue of the patient, thereby adjusting the exercise intensity during the training period. Muscle fatigue can be used to assess the intensity of exercise.[13] In order to prevent muscle damage caused by excessive fatigue, different rehabilitation training plans should be developed according to the specific conditions of each individual, so as to achieve better rehabilitation training results.[14]
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