CN109453462A - A kind of functional electrostimulation device and system - Google Patents
A kind of functional electrostimulation device and system Download PDFInfo
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- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
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- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
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Abstract
The invention discloses a kind of functional electrostimulation device, which includes: signal acquisition unit, for acquiring the attitude signal of EEG signals and target limbs；EEG Processing unit for handling EEG signals, and judges whether EEG signals have Mental imagery information；Attitude signal processing unit for handling attitude signal when EEG signals have Mental imagery information, and determines the corresponding characteristic value of attitude signal；Electro photoluminescence output unit, for exporting electro photoluminescence corresponding with characteristic value to the corresponding muscle group in joint to be stimulated.The motion intention of patient is conveyed to the corresponding muscle group in joint to be stimulated by the device, in a manner of imitating normal human nerve and convey motion intention, the rehabilitation training of autonomous control is carried out to suffering limb.The invention also discloses a kind of functional electric stimulation systems, have corresponding technical effect.
Description
Technical field
The present invention relates to medical assistance rehabilitation training apparatus fields, more particularly to a kind of functional electrostimulation device and are
System.
Background technique
Cerebral apoplexy and taking place frequently for traffic accident cause the patient populations of spinal cord injury to increase year by year, and traditional rehabilitation maneuver is all
It is patient compliance's rehabilitation Shi Jinhang passive type rehabilitation training, the rehabilitation efficacy of this training method is bad.
When for severe hemiplegia patient, it is desirable to provide user can be automatically controled, and can external environment be exchanged and be controlled
The mode of system.Research finds human body in the case where receiving the control of environmental stimuli or independent behaviour and consciousness, and generated brain is electric
(Electroencephalogram, EEG) active signal shows different change in time and space modes, and EEG signal is a kind of
The signal of peripheral nerve and muscle is not depended on.But since EEG has weak output signal, the low and non-stationary strong feature of signal-to-noise ratio,
Not only having differences property between individual, and there are othernesses in individual, can not also realize using brain electricity at present and carry out autonomous type health
Refreshment is practiced.
Therefore, the problems such as how autonomous control effectively being realized in rehabilitation training is that current those skilled in the art are anxious
Technical problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of functional electrostimulation device and system to realize and suffer from athletic rehabilitation treatment
The active rehabilitation training that person is actively engaged in, while patient can also be eliminated lead to the fatigue of eyes using BCI system for a long time
With dry and astringent problem.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of functional electrostimulation device, comprising:
Signal acquisition unit, for acquiring the attitude signal of EEG signals and target limbs；Wherein, the target limb
Body is the limbs for having motion association relationship with joint to be stimulated；
EEG Processing unit for handling the EEG signals, and judges whether the EEG signals have
There is Mental imagery information；
Attitude signal processing unit is used for when the EEG signals have the Mental imagery information, to the posture
Signal is handled, and determines the corresponding characteristic value of the attitude signal；
Electro photoluminescence output unit, for exporting electricity corresponding with the characteristic value to the corresponding muscle group in the joint to be stimulated
Stimulation.
Preferably, the EEG Processing unit, comprising:
Baseline wander subelement obtains first for carrying out Baseline wander and artefact removal processing to the EEG signals
EEG signals；
Filtering subunit obtains the second EEG signals for being filtered to first EEG signals；
Feature extraction subelement, for extracting motion intention characteristic value from second EEG signals；
Judgment sub-unit, for judging whether the motion intention characteristic value is greater than preset threshold, if it is, determining institute
EEG signals are stated with Mental imagery information.
Preferably, the filtering subunit, specifically for first EEG signals are input to Butterworth filter
Middle carry out bandpass filtering, then space filter is carried out to the bandpass signal of Butterworth filter output under cospace mode
Wave obtains the second EEG signals.
Preferably, attitude signal processing unit is specifically used for when the EEG signals have Mental imagery information, pre-
If extracting the corresponding angular average of the attitude signal in time window, and using the angular average as characteristic value.
Preferably, the electro photoluminescence output unit, specifically for according to pre-set characteristic value and intensity of electric stimulus
Corresponding relationship exports electro photoluminescence corresponding with the characteristic value to the corresponding muscle group in the joint to be stimulated.
Preferably, further includes:
Feedback unit, for detecting motion information of the joint to be stimulated under the electro photoluminescence, described in utilizing
Motion information is modified the corresponding relationship.
A kind of functional electric stimulation system, comprising:
Signal acquisition module, signal processing module and functional electrical stimulato；
Wherein, signal acquisition module, for acquiring EEG signals and attitude signal；
Signal processing module obtains trigger signal for handling the EEG signals and the attitude signal；
Functional electrical stimulato for receiving the trigger signal, and exports electro photoluminescence corresponding with the trigger signal；
Between the signal acquisition module and the signal processing module have communication connection, the signal processing module with
There is communication connection between the functional electrical stimulato.
Preferably, the signal acquisition module includes EGG sensor and attitude transducer, wherein the EGG sensor is used
In acquisition EEG signals；The attitude transducer is for acquiring attitude signal.
Preferably, the attitude signal collector includes gyroscope, acceleration transducer.
Preferably, the functional electrical stimulato includes STM8 master control system module, boost module, impulse stimulation generation mould
Block and power module；Wherein, the voltage adjustable extent of the electro photoluminescence is 20-100V.
Using device provided by the embodiment of the present invention, which includes: signal acquisition unit, for acquiring brain telecommunications
Number and target limbs attitude signal；Wherein, target limbs are the limbs for having motion association relationship with joint to be stimulated；
EEG Processing unit for handling EEG signals, and judges whether EEG signals have Mental imagery information；Appearance
State signal processing unit for handling attitude signal when EEG signals have Mental imagery information, and determines posture
The corresponding characteristic value of signal；Electro photoluminescence output unit, for corresponding with characteristic value to the corresponding muscle group output in joint to be stimulated
Electro photoluminescence.
EEG signals (bio signal) and attitude signal (physical signal) are blended the movement to identify human body by the device
It is intended to.Specifically, being acquired to EEG signals and attitude signal, when detecting there is Mental imagery information in EEG signals
When, attitude signal is analyzed, and determine the characteristic value of attitude signal.Due to being moved between each limbs of human body
When, there can be incidence relation, when such as people's walking, the amplitude of fluctuation of upper limb and the walking frequency of lower limb are consistent.In this way, can be based on
The characteristic value of attitude signal exports electro photoluminescence corresponding with this feature value using electro photoluminescence output unit, makes suffering limb in electro photoluminescence
Lower movement, to imitate control of the cerebral nerve to limbs.In this way, environmental stimuli or autonomous can received by acquisition patient
Under behavior and the control of consciousness, generated EEG signals, and combine and controlled by human brain and there is fortune with joint to be stimulated
The attitude signal acquired on the target limbs of dynamic incidence relation, when there is Mental imagery information in EEG signals, to be stimulated
The corresponding muscle group in joint exports electro photoluminescence corresponding with the characteristic value extracted from attitude signal, to pass through the device for patient's
Motion intention is conveyed to the corresponding muscle group in joint to be stimulated, in a manner of imitating normal human nerve and convey motion intention, comes
The rehabilitation training of autonomous control is carried out to suffering limb.
Correspondingly, the embodiment of the invention also provides functional electrostimulations corresponding with above-mentioned functional electrostimulation device
System has above-mentioned technique effect, and details are not described herein.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of functional electrostimulation device in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of functional electric stimulation system in the embodiment of the present invention；
Fig. 3 is a kind of specific frame diagram of functional electric stimulation system in the embodiment of the present invention；
Fig. 4 is a kind of motion intention rehabilitation training normal form flow chart in the embodiment of the present invention；
Fig. 5 is a kind of rehabilitation training flow chart based on functional electric stimulation system in the embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment one:
Referring to FIG. 1, Fig. 1 is a kind of structural schematic diagram of functional electrostimulation device in the embodiment of the present invention, the device
It include: signal acquisition unit 101, EEG Processing unit 102, attitude signal processing unit 103 and electro photoluminescence output unit
104。
Signal acquisition unit 101, for acquiring the attitude signal of EEG signals and target limbs；Wherein, target limbs
To have the limbs of motion association relationship with joint to be stimulated；EEG signals, that is, EEG, attitude signal include target limb rotation
Angle, the amplitude of movement, movement the posture informations such as acceleration.
EEG Processing unit 102 for handling EEG signals, and judges whether EEG signals have movement
Imagine information；When handling EEG signals, EEG signals can be screened, irrelevant signal is removed.Wherein, movement is thought
Image information can be the Mental imagery information of target limbs, such as right hand Mental imagery.
Attitude signal processing unit 103 is used for when EEG signals have Mental imagery information, at attitude signal
Reason, and determine the corresponding characteristic value of attitude signal；Wherein, the characteristic value of attitude signal can using target limb rotation angle,
Characteristic value is calculated in any one or more numerical informations in the amplitude of movement, the acceleration of movement.Specifically, characteristic value
It is bigger, indicate that exercise intensity is bigger.For example, attitude signal processing unit, can be specifically used for having Mental imagery in EEG signals
When information, the corresponding angular average of attitude signal is extracted in preset time window, and using angular average as characteristic value.
That is, calculating corresponding angular average to the attitude signal in one section of duration, and using angular average as feature
Value.
Electro photoluminescence output unit 104, for exporting electro photoluminescence corresponding with characteristic value to the corresponding muscle group in joint to be stimulated.
Electro photoluminescence output unit can export electro photoluminescence corresponding with characteristic value to the corresponding muscle group in joint to be stimulated.For example, if to be stimulated
Joint is ankle-joint, can export electro photoluminescence corresponding with characteristic value to tibialis anterior.If specifically, the intensity of electro photoluminescence can be divided into
Dry grade, and corresponding intensity of electric stimulus is selected according to the size of characteristic value, such as a characteristic value value range section can
A corresponding intensity of electric stimulus.The electro photoluminescence can stimulate for voltage.
Using device provided by the embodiment of the present invention, which includes: signal acquisition unit, for acquiring brain telecommunications
Number and target limbs attitude signal；Wherein, target limbs are the limbs for having motion association relationship with joint to be stimulated；
EEG Processing unit for handling EEG signals, and judges whether EEG signals have Mental imagery information；Appearance
State signal processing unit for handling attitude signal when EEG signals have Mental imagery information, and determines posture
The corresponding characteristic value of signal；Electro photoluminescence output unit, for corresponding with characteristic value to the corresponding muscle group output in joint to be stimulated
Electro photoluminescence.
EEG signals (bio signal) and attitude signal (physical signal) are blended the movement to identify human body by the device
It is intended to.Specifically, being acquired to EEG signals and attitude signal, when detecting there is Mental imagery information in EEG signals
When, attitude signal is analyzed, and determine the characteristic value of attitude signal.Due to being moved between each limbs of human body
When, there can be incidence relation, when such as people's walking, the amplitude of fluctuation of upper limb and the walking frequency of lower limb are consistent.In this way, can be based on
The characteristic value of attitude signal exports electro photoluminescence corresponding with this feature value using electro photoluminescence output unit, makes suffering limb in electro photoluminescence
Lower movement, to imitate control of the cerebral nerve to limbs.In this way, environmental stimuli or autonomous can received by acquisition patient
Under behavior and the control of consciousness, generated EEG signals, and combine and controlled by human brain and there is fortune with joint to be stimulated
The attitude signal acquired on the target limbs of dynamic incidence relation, when there is Mental imagery information in EEG signals, to be stimulated
The corresponding muscle group in joint exports electro photoluminescence corresponding with the characteristic value extracted from attitude signal, to pass through the device for patient's
Motion intention is conveyed to the corresponding muscle group in joint to be stimulated, in a manner of imitating normal human nerve and convey motion intention, comes
The rehabilitation training of autonomous control is carried out to suffering limb.
Wherein, EEG Processing unit 102, can specifically include:
Baseline wander subelement obtains the first brain electricity for carrying out Baseline wander and artefact removal processing to EEG signals
Signal；
Filtering subunit obtains the second EEG signals for being filtered to the first EEG signals；
Feature extraction subelement, for extracting motion intention characteristic value from the second EEG signals；
Judgment sub-unit, for judging whether motion intention characteristic value is greater than preset threshold, if it is, determining brain telecommunications
Number have Mental imagery information.
It is described for ease of description, below combining above three subelement.
Baseline wander subelement carries out Baseline wander to EEG signals and artefact removal is handled, and can get the first brain telecommunications
Number.Wherein, when carrying out Baseline wander, the EEG signals of the attonity after can acquiring one section of calibration in advance take its mean value as mark
EEG signals can be subtracted the average value, when carrying out Baseline wander to realize baseline correction by standard；EEG signals are carried out
Power frequency 50Hz notch filter removes artefact.After obtaining the first EEG signals, to reduce interference signal, using filtering subunit
First EEG signals are filtered, the signal obtained after filtering is EEG signals.
Preferably due to which the frequency range of the Mental imagery information in EEG signals belongs to intermediate-freuqncy signal, and active signal is transported
Dynamic imagination information table reveals different change in time and space modes, therefore when filtering subunit is filtered the first EEG signals,
First EEG signals can be input in Butterworth filter and carry out bandpass filtering, then to Butterworth under cospace mode
The bandpass signal of filter output carries out space filtering, obtains the second EEG signals.Specifically, Butterworth filter can be 4
Rank Butterworth filter, bandpass range: 8-30Hz.After obtaining the second EEG signals, feature extraction subelement can be from second
Motion intention characteristic value is extracted in EEG signals.When extracting motion intention characteristic value, feature can also be carried out under cospace mode
It extracts.After obtaining motion intention characteristic value, judgment sub-unit can determine whether motion intention characteristic value is greater than preset threshold,
If it is, determining that EEG signals have Mental imagery information.
Preferably, when exporting electro photoluminescence corresponding with characteristic value to the corresponding muscle group in joint to be stimulated, electro photoluminescence output
Unit, specifically can be according to the corresponding relationship of pre-set characteristic value and intensity of electric stimulus, to the corresponding muscle group in joint to be stimulated
Export electro photoluminescence corresponding with characteristic value.That is, different attitude signals corresponds to the electro photoluminescence of varying strength, such patient
When carrying out rehabilitation training, not only can by EEG signals to starting electrical stimulation device, can also by autonomous control target limbs,
And then it realizes and joint to be stimulated is carried out the autonomous sense of participation of patient to be promoted, so that nervous system obtains more by the stimulation controlled
It takes exercise well.
Preferably due to which the differences such as the personality of different patients, constitution, body, may result in the electricity suitable for patient A
Under stimulus intensity, the case where being not particularly suited for patient B and same motion intention, attitude signal is different.Thus, in the present invention
It can also include: feedback unit in functional electrostimulation device provided by embodiment.The feedback unit, it is cocked for detecting
Motion information of the joint under electro photoluminescence is swashed, to be modified using motion information to corresponding relationship.
Embodiment two:
Corresponding to devices above embodiment, the embodiment of the invention also provides a kind of functional electric stimulation systems, hereafter
The functional electric stimulation system of description can correspond to each other reference with functionality described above electrical stimulation device.
Shown in Figure 2, which comprises the following modules:
Signal acquisition module 201, signal processing module 202 and functional electrical stimulato 203；
Wherein, signal acquisition module 201, for acquiring EEG signals and attitude signal；
Signal processing module 202 obtains trigger signal for handling EEG signals and attitude signal；
Functional electrical stimulato 203 for receiving trigger signal, and exports electro photoluminescence corresponding with trigger signal；
There is communication connection, signal processing module 202 and function between signal acquisition module 201 and signal processing module 202
There can be communication connection between property egersimeter 203.
Wherein, TCP/IP technology can be used in signal acquisition module and EEG signals and attitude signal is transferred to control system
Signal processing module in；Signal processing module can be used Serial technology and trigger signal be transferred in egersimeter module.
Using system provided by the embodiment of the present invention, which includes: signal acquisition module, signal processing module and function
It can property egersimeter；Wherein, signal acquisition module, for acquiring EEG signals and attitude signal；Signal processing module, for pair
EEG signals and attitude signal are handled, and trigger signal is obtained；Functional electrical stimulato, for receiving trigger signal, and it is defeated
Electro photoluminescence corresponding with trigger signal out；There is communication connection, signal processing between signal acquisition module and signal processing module
There is communication connection between module and functional electrical stimulato.Wherein, TCP/IP technology can be used in signal acquisition module by brain
Electric signal and attitude signal are transferred in the signal processing module of control system；Signal processing module can be used Serial technology and will touch
Signalling is transferred in egersimeter module.
EEG signals (bio signal) and attitude signal (physical signal) can be blended the fortune to identify human body by the system
It is dynamic to be intended to.Specifically, being acquired to EEG signals and attitude signal, there is Mental imagery letter when detecting in EEG signals
When breath, attitude signal is analyzed, and determines the characteristic value of attitude signal.Due to being transported between each limbs of human body
When dynamic, there can be incidence relation, when such as people's walking, the amplitude of fluctuation of upper limb and the walking frequency of lower limb are consistent.In this way, can base
In the characteristic value of attitude signal, electro photoluminescence corresponding with this feature value is exported using electro photoluminescence output unit, makes suffering limb in electricity
The lower movement of stimulation, to imitate control of the cerebral nerve to limbs.In this way, can by acquisition patient receive environmental stimuli or
Under the control of independent behaviour and consciousness, generated EEG signals, and combine and controlled by human brain, and have with joint to be stimulated
The attitude signal acquired on the target limbs for having motion association relationship is treated when having Mental imagery information in EEG signals
The corresponding muscle group in joint is stimulated to export electro photoluminescence corresponding with the characteristic value extracted from attitude signal, will suffer from by the device
The motion intention of person is conveyed to the corresponding muscle group in joint to be stimulated, to imitate the side that normal human nerve conveys motion intention
Formula carries out the rehabilitation training of autonomous control to suffering limb.
Specifically, signal acquisition module 201 includes EGG signal acquisition cap and attitude transducer, wherein EGG signal acquisition
Cap is for acquiring EEG signals；Attitude transducer is for acquiring attitude signal.Wherein, attitude signal collector include gyroscope,
Acceleration transducer.
Specifically, functional electrical stimulato 202 includes STM8 master control system module, boost module, impulse stimulation generation mould
Block, power module and 2 output channels；Wherein, the voltage adjustable extent of electro photoluminescence is 20-100V, and the frequency range of electro photoluminescence is
20Hz。
Embodiment three:
To better understand technical solution provided by the embodiment of the present invention convenient for those skilled in the art, below with specific
Functional electric stimulation system application scenarios that ankle-joint is stimulated for, be provided for the embodiments of the invention technical side
Case is described in detail.
The functional electric stimulation system for the brain switch control based on Mental imagery that the embodiment of the invention provides a kind of, this is
System realizes that the motion intention of human body controls electric stimulation: first order control using Two-stage control: carrying out signal point to EEG signal
Analysis processing such as right hand Mental imagery, then opens electric stimulation when system detection to EEG signals has Mental imagery information
Carry out intention control；Conversely, being not turned on electric stimulation when system detection to EEG signals is idle state.Second level control
System: on the basis of EEG signals are opened after electric stimulation, when system detection to attitude angle reaches the threshold range of setting
When, the electric stimulation pulse that electric stimulation exports corresponding stimulus intensity stimulates affected limb position.
Referring to FIG. 3, Fig. 3 is a kind of specific frame diagram of functional electric stimulation system in the embodiment of the present invention.
Before using the functional electric stimulation system, it need to be pre-adjusted stimulation parameter, for example, parameter setting frequency of stimulation
For 20Hz, stimulation voltage is divided into 3 grades: 40V, 50V and 60V.Attitude angle is set as 60-70 ° is corresponding to stimulation voltage
40V, attitude angle be 80-90 ° correspond to stimulation voltage be 50V, attitude angle is 100-110 ° and is corresponding to stimulation voltage
60V.EEG signal acquires brain electricity cap in user or patient's wearing, starts EEG hardware and software systems, setting brain electricity sample frequency, brain electricity
Channel and TCP/IP parameter；Attitude transducer is also worn simultaneously on right hand arm, starts attitude transducer hardware and software systems, if
Set TCP/IP parameter.Certainly, above-mentioned parameter may also be configured to other numerical value.
After completing these preparation works, patient or user are in combination with motion intention rehabilitation training normal form stream shown in Fig. 4
Cheng Tu carries out Mental imagery and controls corresponding limbs to be moved so that functional electric stimulation system detect EEG signals and
Attitude signal, and electro photoluminescence is carried out to suffering limb based on EEG signals and attitude signal, to imitate human normal movement.
Wherein, the prompt of motion intention rehabilitation training normal form process, specially user according to rehabilitation training normal form, user head
It is first in 2s idle state, 1.8-2s then occurs and prepares prompt, then carry out 4s right hand Mental imagery task, next hears 0.5s
The movement range task of 2.5-3s posture is carried out after prompt tone, it is last to be in 4s idle state again.Note that in order to inhibit eye electricity and
Muscle artifacts, user try not to blink and move during the experiment or in rehabilitation training.
Referring to FIG. 5, Fig. 5 is a kind of rehabilitation training process based on functional electric stimulation system in the embodiment of the present invention
Figure.That is, user carries out motion intention task according to prompt, functional electric stimulation system acquires original EEG signals and posture letter
Number, and EEG signals relevant to Mental imagery task events are extracted from collected brain electricity original signal.The brain electricity of acquisition
Signal data mostly come from primary sensorimotor area 10 channels (F3, Fc3, C3, Cp3, P3, F4, Fc4, C4, Cp4,
P4), the attitude signal data of acquisition mostly come from right upper extremity Angle of Elbow Joint information.
Then, signal processing module carries out baseline correction and removal artefact processing to above-mentioned EEG signals, using 4 ranks
Butterworth filter carries out the bandpass filtering of 8-30Hz, then carries out space filtering and feature extraction by cospace mode, obtains
The characteristic value of the characteristic value that motion intention initial state determines into system, i.e. brain switch.Then, characteristic value brain switched,
Classification and Identification is carried out using support vector machines (Support Vector Machine, SVM), sets brain switching threshold appropriate,
More than the control signal that the characteristic value of threshold value is judged to stimulating unlatching, the classification results that control egersimeter is opened are obtained.
Meanwhile signal processing module is also handled attitude signal, attitude signal can also carry out baseline correction and removal
Artefact processing, acquires the amplitude size of attitude signal in real time, extracts the angular average of the attitude data in setting window size,
Characteristic value as attitude signal.By characteristic value compared with the threshold range of the related attitude angle of setting stimulus intensity, work as appearance
The angular average of state signal is determined as the control signal of stimulus intensity in the threshold range of setting, obtains control egersimeter
The classification results of stimulus intensity.
Data processing module in possibility electric stimulation determines the classification results of EEG signals and attitude signal
Fused classification results are respectively converted into the triggering that control function egersimeter is opened with stimulus intensity and referred to by the fusion of plan grade
It enables (with the trigger signal being outlined above), and triggering command is sent to the master control system of functional electrical stimulato in real time, it is main
The instruction that control system docking receives is analyzed, and if only if the control instruction that first order instruction is brain switching signal, the second level
Instruction is the control instruction of attitude signal, and system just carries out functional electrostimulation to user.That is, and if only if brain telecommunications
When there is Mental imagery information in number, and extracting from attitude signal control instruction, corresponding electro photoluminescence is just exported.
After master control system (i.e. functional electric stimulation system) receives the control instruction of complete fusion every time, electric stimulation
It can be automatically closed after normal work.And after patient repeats Mental imagery and limb motion, in functional electric stimulation system
After obtaining the control instruction of brain switch and the control instruction of attitude signal, functional electrostimulation could be made to work again,
Electro photoluminescence is exported again.Preferably, in order to guarantee the safety and reliability of electric stimulation, set-up function electro photoluminescence system
System is not receiving open command, is always maintained at closed state；After receiving open command, when setting the unlatching of electric stimulation
Between be 8s, if do not received in 8s control stimulus intensity instruction (satisfactory attitude signal is not detected), electro photoluminescence
System can be automatically closed.
After functional electric stimulation system exports electro photoluminescence to the lower limb tibialis anterior of user, user is according to lower limb shin bone
The excitement of preceding flesh is by by neural feedback, to brain, while feedback module is detected in combination with lower limb ankle joint angle detection system
Angular dimension to ankle-joint changes, the size of elbow joint attitude angle when adjusting experiment next time in due course, and then adjusts appropriate
Stimulus intensity makes system become closed loop feedback system, to simulate the Mental imagery reception and registration and motion feedback of nerve system of human body.
It can be seen that functional electric stimulation system provided by the embodiment of the present invention, mainly solves following problems: 1, solving
It has determined using visual problems caused by other stimulation normal forms, has brought great convenience, while Mental imagery EEG signals to user
Be it is spontaneous, make system more naturalization；2, solve motion intention in system qualitatively with quantification control function electricity
Stimulation problem allows system to identify the initial state and movement degree of motion intention；3, binding function electrical stimulation technology,
Not only meet motor learning principle but also can promote brain remodeling, and realize the active being involved in by brain to upper limb to lower limb whole body nerve
Formula rehabilitation training enhances the controlling of brain and the locomitivity of upper and lower extremities, has itself unique excellent than traditional rehabilitation technique
Gesture.
Claims (10)
1. a kind of functional electrostimulation device characterized by comprising
Signal acquisition unit, for acquiring the attitude signal of EEG signals and target limbs；Wherein, the target limbs are
There are the limbs of motion association relationship with joint to be stimulated；
EEG Processing unit for handling the EEG signals, and judges whether the EEG signals have fortune
Dynamic imagination information；
Attitude signal processing unit is used for when the EEG signals have the Mental imagery information, to the attitude signal
It is handled, and determines the corresponding characteristic value of the attitude signal；
Electro photoluminescence output unit, for being pierced to the corresponding muscle group output in the joint to be stimulated electricity corresponding with the characteristic value
Swash.
2. functional electrostimulation device according to claim 1, which is characterized in that the EEG Processing unit, packet
It includes:
Baseline wander subelement obtains the first brain electricity for carrying out Baseline wander and artefact removal processing to the EEG signals
Signal；
Filtering subunit obtains the second EEG signals for being filtered to first EEG signals；
Feature extraction subelement, for extracting motion intention characteristic value from second EEG signals；
Judgment sub-unit, for judging whether the motion intention characteristic value is greater than preset threshold, if it is, determining the brain
Electric signal has Mental imagery information.
3. functional electrostimulation device according to claim 2, which is characterized in that the filtering subunit is specifically used for
First EEG signals are input in Butterworth filter and carry out bandpass filtering, then to described bar under cospace mode
The bandpass signal of special Butterworth filter output carries out space filtering, obtains the second EEG signals.
4. functional electrostimulation device according to claim 1, which is characterized in that attitude signal processing unit, it is specific to use
In when the EEG signals have Mental imagery information, the corresponding angle of the attitude signal is extracted in preset time window
Average value, and using the angular average as characteristic value.
5. functional electrostimulation device according to claim 1, which is characterized in that the electro photoluminescence output unit, specifically
For the corresponding relationship according to pre-set characteristic value and intensity of electric stimulus, to the corresponding muscle group output in the joint to be stimulated
Electro photoluminescence corresponding with the characteristic value.
6. functional electrostimulation device according to claim 5, which is characterized in that further include:
Feedback unit, for detecting motion information of the joint to be stimulated under the electro photoluminescence, to utilize the movement
Information is modified the corresponding relationship.
7. a kind of functional electric stimulation system characterized by comprising
Signal acquisition module, signal processing module and functional electrical stimulato；
Wherein, signal acquisition module, for acquiring EEG signals and attitude signal；
Signal processing module obtains trigger signal for handling the EEG signals and the attitude signal；
Functional electrical stimulato for receiving the trigger signal, and exports electro photoluminescence corresponding with the trigger signal；
Between the signal acquisition module and the signal processing module have communication connection, the signal processing module with it is described
There is communication connection between functional electrical stimulato.
8. functional electric stimulation system according to claim 7, which is characterized in that the signal acquisition module includes EGG
Sensor and attitude transducer, wherein the EGG sensor is for acquiring EEG signals；The attitude transducer is for acquiring appearance
State signal.
9. functional electric stimulation system according to claim 8, which is characterized in that the attitude signal collector includes top
Spiral shell instrument, acceleration transducer.
10. functional electric stimulation system according to any one of claims 7 to 9, which is characterized in that the functional electric thorn
Sharp device includes STM8 master control system module, boost module, impulse stimulation generation module and power module；Wherein, the electro photoluminescence
Voltage adjustable extent be 20-100V.
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