The Design of Signal Generator in Motor Function Rehabilitation Based on MCU

Abstract

Objective: In order to promote paralyzed patients’ recovery of their motor function, we designed this functional electrical stimulation (FES) signal generator. Method: We used AT89C52 MCU and digital analog converter as the core to compose hardware system. By analyzing the time domain characteristics of common waveforms and the movement-related neural signals, we designed the corresponding MCU program, then the expected waveforms can be generated as signal sources of this therapeutic apparatus. Results:This signal generator is able to produce series of waveforms in the time domain, such as sine wave, rectangular wave, triangular wave signal, and neural signal bands related with movement .Conclusion: Compared with the traditional signal generators [1], this signal generator has the advantages of simple structure, complete functions, low cost and convenience. Using movement-related neural signals which were collected from animal experiments as signal sources is helpful to induce the coordinated movement and reduce the muscle fatigue.

Motion Strategy of Drilling Anchor Manipulator Based on Intelligent Optimization Algorithm

“…Equation (10) represents the pulse sequence with the amplitude i A of the first pulse as the time zero and the time interval as T . The input instruction is denoted as   t R , and the molding instruction is denoted as   t U , thus it can be seen that the convolution relation of formula (11) is valid. can be any kind of incentive signal.In order to realize the precise positioning and trajectory tracking of the mine roof bolter robot in the underground space, the two pulse and three pulse input shaping tool ZVD is used as the forward feedback controller in this paper.…”

“…The application of electro-hydraulic proportional valve cylinder position control technology to the anchor drilling manipulator can not only meet the requirements of pose control accuracy, but also greatly reduce the equipment cost of anchor drilling robot. PID controller has important advantages [9][10][11]. Even if there is no mathematical model of the controlled object, satisfactory results can be obtained.…”