CN105816957B - Muscle group dynamic electro photoluminescence integrated control system and method - Google Patents
Muscle group dynamic electro photoluminescence integrated control system and method Download PDFInfo
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 88
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- 230000004936 stimulating effect Effects 0.000 claims abstract description 50
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
Abstract
The present invention relates to a kind of muscle group dynamic electro photoluminescence integrated control system and methods.The system includes pressure sensor and dynamic electric stimulating instrument, and there are dynamic electric stimulating instrument multiple stimulation channels, each stimulation channels to be respectively provided with a pair of stimulating electrode that can be affixed on skin surface；Dynamic electric stimulating instrument also has stimulation parameter modulation unit, and stimulation parameter includes stimulus waveform, stimulus intensity, frequency of stimulation, stimulus wave is wide, stimulates preceding stand-by period and stimulus duration.This method includes：Wearing or fixed each component, are arranged stimulation parameter, come into effect stimulation, terminate after stimulation.The present invention can form the collaboration electro photoluminescence to lower limb polymyarian group, and the patient for causing part muscular strength deficiency that hemiplegic gait is presented due to illness can be assisted to complete complete walking motion well.
Description
Technical field
The present invention relates to a kind of muscle group dynamic electro photoluminescence integrated control system and methods, are particularly suitable for treatment cerebral apoplexy and suffer from
The human body dyskinesia of person and other cerebral injuries related disorder patients belong to athletic rehabilitation treatment technology field.
Background technology
As far as the applicant is aware, electro photoluminescence can be efficiently used for the dyskinesia for the treatment of patients with cerebral apoplexy and many diseases
（Predominantly cerebral injury）Caused body function obstacle.The background and principle of the therapy are substantially as follows：Normal person is when walking, refreshing
It is shunk through the related muscle group collaboration of system call interception lower limb or diastole, drive both legs is alternately taken a step, pushed away by the effect of frictional ground force
Moving body advances；For hemiplegia and patients with cerebral apoplexy, the connection of cranial nerve and part muscle is damaged, and bioelectricity cannot be just
It often conducts and controls contraction of muscle or loosen, this, which has resulted in such patient, to be walked with normal gait.
Athletic rehabilitation theory thinks, forces muscle group by the contraction of rule by certain environmental stimuli or loosens and be conducive to weight
The new connection for establishing cranial nerve and muscle（Theory is fed back based on bioelectricity）, to gradually restore independent movement.
Current athletic rehabilitation treatment imitates normal gait based on still walking with human assistance by physical mechanical, and
The traditional means such as collocation massage.Slow, very very long, patient and its rehabilitation teacher but the rehabilitation course of this passive type works
It is required for paying significant effort ability successful rehabilitation.
Muscle electric stimulation is exactly the process imitated human-body biological and be electrically excited muscular movement, with extraneous current control correlation flesh
The contraction of meat with loosen, generate muscle strength, can in a relatively short period of time be settled to just by the certain patients of this means
Normal walking step state, compared with the physics compulsory measures of passive type, tool has great advantage.On this basis, then coordinate specific instruction
White silk can play apparent rehabilitation efficacy.
The related patents that applicant applies in the early time are as follows：（1）The patent No. 200920231896.9, Authorization Notice No.
CN201658754U, title《Electric stimulating device of tibialis anterior for walking》Chinese utility model patent, which includes：Electro photoluminescence
Instrument, and the pressure inductor, signal amplification circuit, analog to digital conversion circuit, the stimulus signal processing unit that are sequentially connected electrically, stimulation
The stimulus signal output port of signal processing unit is electrically connected with the stimulus signal input port of electric stimulating instrument.In use, will pressure
Power inductor is affixed on patient vola, and the patch of electric stimulating instrument is affixed on hemiplegia side shank tibialis anterior position, and pressure inductor is as pressure
Power switch controls the execution of electro photoluminescence, realizes Active treatment with the walking process of hemiplegic patient；And stimulus signal processing
Unit can carry out the setting of stimulation parameter, reach optimum therapeuticing effect according to the concrete condition of patient.
（2）The patent No. 200920231897.3, Authorization Notice No. CN201618314U, title《Multichannel dynamic electro photoluminescence
Device》Chinese utility model patent, which includes：Stimulus signal processing unit and electric stimulating instrument, stimulus signal processing are single
Member stimulus signal output port be electrically connected with the stimulus signal input port of electric stimulating instrument, electric stimulating instrument at least two pairs with
Upper stimulation patch.In use, being attached to specified muscle sites respectively to stimulation patch by several, sent out by stimulus signal processing unit
Stimulus signal, electric stimulating instrument trigger electric stimulation pulse, make different muscle groups by electro photoluminescence, and its stimulus signal processing unit can
It is different to stimulating discharge order, inter-spike intervals and the discharge time of patch to be arranged in advance, therefore patient's difference portion can be made
The muscle group of position orderly by electro photoluminescence, assists patient to complete a certain action, improves rehabilitation training quality.
（3）The patent No. 201410030454.3, Authorization Notice No. CN103816613B, title《A kind of portable tibialis anterior
Egersimeter》Chinese invention patent in comprising shell, installation Master control chip inside the shell and battery, be mounted on it is outer
The multiple interfaces of display screen and button and setting on the shell on shell；Multiple interfaces are connected with stimulating electrode line and plantar pressure
Sensor；Stimulating electrode line is connected with stimulating electrode piece；Plantar pressure sensor, button are connected with Master control chip input terminal
It connects；Master control chip output end is connected with display screen and stimulating electrode piece.Output stimulus intensity, the output stimulation frequency of the device
These parameters of rate, output pulse width and output pulse width can be adjusted individually, Parameter adjustable adjusting range is big, it is fine accurate to adjust
Really；And it is easy to carry.
Applicant has found that it is dynamic that above-mentioned technological means can not also assist patient to complete complete walking in further research
Make, there is an urgent need for develop the technological means for having the function.
Invention content
The technical problem to be solved by the present invention is to：Overcome the problems, such as of the existing technology, a kind of muscle group dynamic electric is provided
Integrated control system and method are stimulated, electro photoluminescence is cooperateed with by polymyarian group, patient is assisted to complete complete walking motion.
The technical solution that the present invention solves aforementioned technical problem is as follows：
A kind of muscle group dynamic electro photoluminescence integrated control system, including pressure sensor and dynamic electric stimulating instrument, the pressure
The signal output end of sensor is connect with the signal input part of dynamic electric stimulating instrument；It is characterized in that the dynamic electric stimulating instrument tool
There are multiple stimulation channels, each stimulation channels to be respectively provided with a pair of stimulating electrode that can be affixed on skin surface, it in this way can be in human body
In motion process, according to the needs of action, dynamically regulate and control the electro photoluminescence of multiple muscle groups, determines each contract muscular group sequential；It is described
The stimulation parameter modulation unit that dynamic electric stimulating instrument is also connect with control terminal with each stimulation channels controlled end, the stimulation parameter
Including stimulus waveform, stimulus intensity, frequency of stimulation, stimulus wave is wide, stimulates preceding stand-by period and stimulus duration, passes through thorn
The modulation for swashing parameter, coordinates the contraction of each muscle group and loosens, and helps to cause part muscular strength deficiency that hemiplegic gait is presented due to illness
Patient complete walking action.
Further perfect technical solution is as follows for the system：
Preferably, the stimulation parameter modulation unit have several modulator groups, the control terminal of each modulator group with it is corresponding
The controlled end of stimulation channels connects；The modulator group is respectively by stimulus waveform modulator, stimulus intensity modulator, frequency of stimulation
Stand-by period modulator and stimulus duration modulator composition before the wide modulator of modulator, stimulus wave, stimulation.
Preferably, the stimulation parameter modulation unit also has to adjust input equipment and the display of each modulator parameter
Equipment；The stimulus waveform modulator also stimulus waveform library with selective stimulus waveform；The stimulus waveform includes：Tooth form
And arc；The quantity of the stimulation channels is at least eight.
The present invention also provides：
A kind of muscle group dynamic electro photoluminescence integrated control method, characterized in that use muscle group dynamic electro photoluminescence collection described previously
At control system；It the described method comprises the following steps：
The first step, the vola that pressure sensor is placed in patients target's lower limb, by the stimulating electrode of each stimulation channels point
It is not attached on the correspondence muscle group of patients target's lower limb；Go to second step；
Second step, the stimulation parameter that each stimulation channels are set by the stimulation parameter modulation unit of dynamic electric stimulating instrument；And
Under the electro photoluminescence effect of each stimulation channels, the contraction sequential of each corresponding muscle group to normal person when walking when the contraction of corresponding muscle group
Sequence is identical；Go to third step；
After third step, S1. dynamic electric stimulating instruments receive sign on, the pressure letter from pressure sensor is continued to monitor
Number；Go to S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulating instrument controls each stimulation channels by the set thorn of second step
Swash parameter and implement electro photoluminescence to each corresponding muscle group, so that each corresponding muscle group is shunk in an orderly manner, to assist the target lower limb of patient complete
At the walking motion of this current step；Go to the 4th step；
4th step judges whether to stop stimulation, if it is not, then dynamic electric stimulating instrument continues to monitor the pressure from pressure sensor
Force signal simultaneously goes to third step S2；If so, entire method terminates.
Further perfect technical solution is as follows for this method：
Preferably, the method further includes the preposition step before being located at the first step：
The walking cycle of single lower limb is divided by preposition step, U1. in order：Foot be laid flat the phase, this side lower limb stance phase,
Toeoff the phase, swing early stage, swing mid-term, swinging latter stage, totally seven stages heel contact phase, each stage be respectively provided with starting point and
Terminal, the starting point in each stage are overlapped with adjacent terminal on last stage, the starting point weight of the terminal in each stage and adjacent next stage
It closes；
U2. by doing walking detection and analysis to several normal persons to know：The duration in walking cycle each stage and its
The proportion of entire walking cycle duration is accounted for, walking cycle participates in the specific muscle groups of lower extremitates shunk, each specific lower limb flesh in each stage
It the stand-by period and its accounts for the proportion of residing phase duration, each specific muscle groups of lower extremitates duration of contraction before group shrinks and its accounts for
The proportion of residing phase duration；And using the information that these are known as with reference to database；
U3. the walk of the target lower limb of patient is analyzed, is determined abnormal in the target lower limb walking cycle
Stage, and take this as a foundation in conjunction with the corresponding data in reference database, determine the specific lower limb flesh shunk in each abnormal stage
Group；
U4. the walk of another lower limb of patient is analyzed, determines the walking cycle duration of another lower limb,
And take this as a foundation in conjunction with the corresponding data in reference database, each exception stage in target lower limb walking cycle that calculates answers
There is the duration, and then calculates should having for each specific muscle groups of lower extremitates in each abnormal stage and shrink the preceding stand-by period and there should be contraction
Duration；
U5. each specific muscle groups of lower extremitates of U3 determinations is carried out with each stimulation channels corresponding；In conjunction with the calculated data of U4,
Further calculate stand-by period and stimulus duration before the stimulation for obtaining each stimulation channels；
The second step further includes：According to stand-by period and stimulus duration before the stimulation of each stimulation channels obtained by U5
The stimulation parameter of each stimulation channels is set.
Preferably, in U2, specific muscle groups of lower extremitates is selected from：Tensor fasciae late muscle, gluteus maximus, sartorius, anterior rectus muscle, stock four-head
Flesh, biceps muscle of thigh, semitendinosus, tibialis anterior, tibialis posterior, musculus extensor digitorum longus pedis, Hallux extensor hallucis longus, musculus peroneus longus, musculus peroneus brevis, sura
Flesh, musculus soleus.
Preferably, the preposition step further includes：U6. the patient for selecting several muscle groups of lower extremitates dyskinesia, using first
During step implements muscle group electro photoluminescence to the 4th step to these patients, by adjusting stimulus waveform, stimulus intensity, frequency of stimulation
And stimulus wave is wide and monitors effect of stimulation, obtain the optimal stimulation waveform of each specific muscle groups of lower extremitates in walking cycle each stage,
Optimal stimulation strength range, optimal stimulation frequency range and optimal stimulation wave wide scope；
The second step further includes：The stimulation parameter of each stimulation channels is set according to U6 results：Stimulus waveform is set as most
Suitable stimulus waveform, is set as the numerical value in optimal stimulation strength range by stimulus intensity, frequency of stimulation is set as optimal stimulation frequency
Stimulus wave width is set as the numerical value in optimal stimulation wave wide scope by the numerical value in range；
4th step further includes：Judge whether stop stimulation result be it is no after and go to third walk S2 it
Before, judge the effect of stimulation of each specific muscle groups of lower extremitates, if effect is that stimulation is insufficient, stimulus intensity, frequency of stimulation, stimulation is turned up
Wave is at least one of wide, if effect is stimulation appropriateness, keeps stimulus intensity, frequency of stimulation, stimulus wave wide constant, if effect
Fruit is stimulation oversaturation, then it is at least one of wide to turn down stimulus intensity, frequency of stimulation, stimulus wave.
Preferably, the specific of the stimulation parameter of each stimulation channels is set by dynamic electric stimulating instrument stimulation parameter modulation unit
Process is as follows：
First select stimulation channels, then the modulator group by being connected with stimulation channels that stimulation parameter is set：Pass through stimulus wave
Gained waveform, the stimulation instructions of modulator group are put by stimulus waveform modulator by the waveform of shape modulators modulate boost pulse
In；By the intensity of stimulus intensity modulators modulate boost pulse, gained intensity is put into modulator by stimulus intensity modulator
In the stimulation instructions of group；By the frequency of frequency of stimulation modulators modulate boost pulse, by frequency of stimulation modulator by gained frequency
Rate is put into the stimulation instructions of modulator group；Wave by the wide modulators modulate boost pulse of stimulus wave is wide, by the wide tune of stimulus wave
Gained wave width is put into the stimulation instructions of modulator group by device processed；Pass through stand-by period modulators modulate boost pulse before stimulation
Gained is stimulated the preceding stand-by period to be put into the stimulation instructions of modulator group by the stand-by period by stand-by period modulator before stimulating；
By the duration of stimulus duration modulators modulate boost pulse, when gained being continued by stimulus duration modulator
Between be put into the stimulation instructions of modulator group；Stimulation instructions generation finishes；
Later, stimulation instructions are sent to stimulation channels by modulator group, and stimulation channels are acted by this stimulation instructions.
Muscle group dynamic electro photoluminescence integrated control system using the present invention and method, can form the collaboration to lower limb polymyarian group
Electro photoluminescence can assist patient to complete complete walking motion well.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the main process schematic diagram of the embodiment of the present invention 2.
Specific implementation mode
Present invention is further described in detail with reference to the accompanying drawings and in conjunction with the embodiments.But the present invention is not limited to be given
The example gone out.
Embodiment 1
As shown in Figure 1, the muscle group dynamic electro photoluminescence integrated control system of the present embodiment, including pressure sensor and dynamic electric
The signal output end of stimulation instrument, pressure sensor is connect with the signal input part of dynamic electric stimulating instrument；Dynamic electric stimulating instrument has
Multiple stimulation channels, each stimulation channels are respectively provided with a pair of stimulating electrode that can be affixed on skin surface；Dynamic electric stimulating instrument also has
There are the stimulation parameter modulation unit that control terminal is connect with each stimulation channels controlled end, stimulation parameter to include stimulus waveform, stimulate by force
Degree, frequency of stimulation, stimulus wave are wide, stimulate preceding stand-by period and stimulus duration.
Stimulation parameter modulation unit has several modulator groups, the control terminal of each modulator group and corresponding stimulation channels by
Control end connection；Modulator group is wide by stimulus waveform modulator, stimulus intensity modulator, frequency of stimulation modulator, stimulus wave respectively
Stand-by period modulator and stimulus duration modulator composition before modulator, stimulation.
Stimulation parameter modulation unit also has input equipment and display equipment to adjust each modulator parameter；Stimulus wave
The shape modulator also stimulus waveform library with selective stimulus waveform；Stimulus waveform includes：Tooth form and arc；The number of stimulation channels
Amount is at least eight.
Embodiment 2
As shown in Fig. 2, the muscle group dynamic electro photoluminescence integrated control method of the present embodiment, using the muscle group dynamic of embodiment 1
Electro photoluminescence integrated control system；This method includes：
The walking cycle of single lower limb is divided by preposition step, U1. in order：Foot be laid flat the phase, this side lower limb stance phase,
Toeoff the phase, swing early stage, swing mid-term, swinging latter stage, totally seven stages heel contact phase, each stage be respectively provided with starting point and
Terminal, the starting point in each stage are overlapped with adjacent terminal on last stage, the starting point weight of the terminal in each stage and adjacent next stage
It closes.
U2. by doing walking detection and analysis to several normal persons to know：The duration in walking cycle each stage and its
The proportion of entire walking cycle duration is accounted for, walking cycle participates in the specific muscle groups of lower extremitates shunk, each specific lower limb flesh in each stage
It the stand-by period and its accounts for the proportion of residing phase duration, each specific muscle groups of lower extremitates duration of contraction before group shrinks and its accounts for
The proportion of residing phase duration；And using the information that these are known as with reference to database.
Wherein, specific muscle groups of lower extremitates is selected from：Tensor fasciae late muscle, gluteus maximus, sartorius, anterior rectus muscle, quadriceps muscle of thigh, stock two
Flesh, semitendinosus, tibialis anterior, tibialis posterior, musculus extensor digitorum longus pedis, Hallux extensor hallucis longus, musculus peroneus longus, musculus peroneus brevis, gastrocnemius, flatfish
Flesh.
U3. the walk of the target lower limb of patient is analyzed, is determined abnormal in the target lower limb walking cycle
Stage, and take this as a foundation in conjunction with the corresponding data in reference database, determine the specific lower limb flesh shunk in each abnormal stage
Group.
U4. the walk of another lower limb of patient is analyzed, determines the walking cycle duration of another lower limb,
And take this as a foundation in conjunction with the corresponding data in reference database, each exception stage in target lower limb walking cycle that calculates answers
There is the duration, and then calculates should having for each specific muscle groups of lower extremitates in each abnormal stage and shrink the preceding stand-by period and there should be contraction
Duration.
U5. each specific muscle groups of lower extremitates of U3 determinations is carried out with each stimulation channels corresponding；In conjunction with the calculated data of U4,
Further calculate stand-by period and stimulus duration before the stimulation for obtaining each stimulation channels.
U6. the patient for selecting several muscle groups of lower extremitates dyskinesia is implementing these patients using the first step to the 4th step
During muscle group electro photoluminescence, by adjust stimulus waveform, stimulus intensity, frequency of stimulation and stimulus wave it is wide and monitor stimulation effect
Fruit obtains the optimal stimulation waveform of each specific muscle groups of lower extremitates, optimal stimulation strength range, optimal stimulation in walking cycle each stage
Frequency range and optimal stimulation wave wide scope.
The first step, the vola that pressure sensor is placed in patients target's lower limb, by the stimulating electrode of each stimulation channels point
It is not attached on the correspondence muscle group of patients target's lower limb；Go to second step.
Second step, the stimulation parameter that each stimulation channels are set by the stimulation parameter modulation unit of dynamic electric stimulating instrument；And
Under the electro photoluminescence effect of each stimulation channels, the contraction sequential of each corresponding muscle group to normal person when walking when the contraction of corresponding muscle group
Sequence is identical；Go to third step.
Wherein, on the one hand, be arranged according to stand-by period before the stimulation of each stimulation channels obtained by U5 and stimulus duration
The stimulation parameter of each stimulation channels.On the other hand, the stimulation parameter of each stimulation channels is set according to U6 results：Stimulus waveform is set
For optimal stimulation waveform, stimulus intensity is set as the numerical value in optimal stimulation strength range, frequency of stimulation is set as optimal stimulation
Stimulus wave width is set as the numerical value in optimal stimulation wave wide scope by the numerical value in frequency range.
After third step, S1. dynamic electric stimulating instruments receive sign on, the pressure letter from pressure sensor is continued to monitor
Number；Go to S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulating instrument controls each stimulation channels by the set thorn of second step
Swash parameter and implement electro photoluminescence to each corresponding muscle group, so that each corresponding muscle group is shunk in an orderly manner, to assist the target lower limb of patient complete
At the walking motion of this current step；Go to the 4th step.
4th step judges whether to stop stimulation, if it is not, then dynamic electric stimulating instrument continues to monitor the pressure from pressure sensor
Force signal simultaneously goes to third step S2；If so, entire method terminates.
In addition, in the 4th step, after judging whether that the result for stopping stimulation is no and before going to third and walking S2,
Judge the effect of stimulation of each specific muscle groups of lower extremitates, if effect is that stimulation is insufficient, stimulus intensity, frequency of stimulation, stimulus wave is turned up
At least one of width keeps stimulus intensity, frequency of stimulation, stimulus wave wide constant, if effect if effect is stimulation appropriateness
For stimulation oversaturation, then it is at least one of wide to turn down stimulus intensity, frequency of stimulation, stimulus wave.
According to the inventors knowledge, existing similar approach is still more extensive, does not study which walking cycle should specifically use
Kind dividing mode is more conducive to realize precisely stimulation, also no that each stage muscle group in walking cycle is studied as the present embodiment method
The specific opportunity shunk, more not carefully studying muscle groups of lower extremitates should be sub-divided into that degree just has in order to realize accurate stimulation
Help realize accurate stimulation.
Inventor thinks through research：Dynamic electro photoluminescence must be set up on the basis of stroking technique is analyzed, having any actual knowledge of
Precisely exert oneself sequential of the different muscle groups in action process, could accurately determine the stimulation programs for coordinating each muscle group movement, ensure
Electro photoluminescence is synchronous with movement, to promote the raising of the completion and efficiency of movement that act.
In the preposition step that the present embodiment method uses, walking cycle is first divided into aforementioned seven stages, then by each stage
In specific muscle groups of lower extremitates specific contractions situation as with reference to foundation, while specific muscle groups of lower extremitates being limited to the muscle group segmented
In range, when implementing electro photoluminescence to patient later, gradually to restore each stage action effect and then realize to assist to complete entire row
It walks about as target, realizes precisely stimulation rehabilitation, help to improve rehabilitation efficiency.
Meanwhile also with the concrete condition of another lower limb of patient for reference to foundation in the preposition step, it is ensured that target lower limb can be extensive
Multiple extremely level of movement identical with another lower limb, being conducive to patient can restore to autonomous normal walking in the future.
In addition, in the preposition step also by the research to several patients come obtain in walking cycle each stage it is each it is specific under
Optimal stimulation waveform, optimal stimulation strength range, optimal stimulation frequency range and the wide model of optimal stimulation wave that limb muscle group matches
It encloses, as the foundation of follow-up setting stimulation parameter, helps to be better achieved precisely stimulation rehabilitation.Meanwhile preposition step uses this
The necessity of method also resides in：Inventor it has been investigated that, same muscle groups of lower extremitates in the different phase of walking cycle have not
Identical or complete different optimal stimulation parameter.
Specifically, each stimulation channels are arranged by dynamic electric stimulating instrument stimulation parameter modulation unit in the present embodiment method
The detailed process of stimulation parameter is as follows：
First select stimulation channels, then the modulator group by being connected with stimulation channels that stimulation parameter is set：Pass through stimulus wave
Gained waveform, the stimulation instructions of modulator group are put by stimulus waveform modulator by the waveform of shape modulators modulate boost pulse
In；By the intensity of stimulus intensity modulators modulate boost pulse, gained intensity is put into modulator by stimulus intensity modulator
In the stimulation instructions of group；By the frequency of frequency of stimulation modulators modulate boost pulse, by frequency of stimulation modulator by gained frequency
Rate is put into the stimulation instructions of modulator group；Wave by the wide modulators modulate boost pulse of stimulus wave is wide, by the wide tune of stimulus wave
Gained wave width is put into the stimulation instructions of modulator group by device processed；Pass through stand-by period modulators modulate boost pulse before stimulation
Gained is stimulated the preceding stand-by period to be put into the stimulation instructions of modulator group by the stand-by period by stand-by period modulator before stimulating；
By the duration of stimulus duration modulators modulate boost pulse, when gained being continued by stimulus duration modulator
Between be put into the stimulation instructions of modulator group；Stimulation instructions generation finishes；
Later, stimulation instructions are sent to stimulation channels by modulator group, and stimulation channels are acted by this stimulation instructions.
So complicated stimulation instructions generating process can be respectively completed by multiple modulators, is greatly reduced to hardware
The requirement of complexity is not only conducive to reduce cost, and easy to maintain, is conducive to ensure the normal fortune of stimulation parameter modulation unit
Row.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (6)
1. a kind of muscle group dynamic electro photoluminescence integrated control system, including pressure sensor and dynamic electric stimulating instrument, the pressure passes
The signal output end of sensor is connect with the signal input part of dynamic electric stimulating instrument；
It is characterized in that
There are the dynamic electric stimulating instrument multiple stimulation channels, each stimulation channels to be respectively provided with a pair of thorn that can be affixed on skin surface
Swash electrode；The stimulation parameter modulation unit that the dynamic electric stimulating instrument is also connect with control terminal with each stimulation channels controlled end,
The stimulation parameter includes stimulus waveform, stimulus intensity, frequency of stimulation, stimulus wave is wide, preceding stand-by period and stimulation is stimulated to hold
The continuous time；
The control method of the control system includes：
The stimulating electrode of each stimulation channels is distinguished in the first step, the vola that pressure sensor is placed in target person target lower limb
It is attached on the correspondence muscle group of target person target lower limb；Go to second step；
Second step, the stimulation parameter that each stimulation channels are set by the stimulation parameter modulation unit of dynamic electric stimulating instrument；And each
Under the electro photoluminescence effect of stimulation channels, the contraction sequential phase of the contraction sequential of each corresponding muscle group corresponding muscle group when walking to normal person
Together；Go to third step；
After third step, S1. dynamic electric stimulating instruments receive sign on, the pressure signal from pressure sensor is continued to monitor；Turn
To S2；
S2. when pressure signal reaches predetermined threshold value, dynamic electric stimulating instrument controls each stimulation channels by the set stimulation ginseng of second step
Number implements electro photoluminescence to each corresponding muscle group, so that each corresponding muscle group is shunk in an orderly manner, to assist the target lower limb of target person to complete
The walking motion of this current step；Go to the 4th step；
4th step judges whether to stop stimulation, if it is not, then dynamic electric stimulating instrument continues to monitor the letter of the pressure from pressure sensor
Number and go to third step S2；If so, entire method terminates；
The control method further includes the preposition step before being located at the first step：
The walking cycle of single lower limb is divided by preposition step, U1. in order：Foot is laid flat phase, this side lower limb stance phase, toeoff
Phase, swing early stage, swing mid-term, swing latter stage, the heel contact phase, totally seven stages, each stage were respectively provided with beginning and end,
The starting point in each stage is overlapped with adjacent terminal on last stage, and the terminal in each stage is overlapped with the starting point of adjacent next stage；
U2. by doing walking detection and analysis to several normal persons to know：It the duration in walking cycle each stage and its accounts for whole
The proportion of a walking cycle duration, walking cycle participates in the specific muscle groups of lower extremitates shunk in each stage, each specific muscle groups of lower extremitates is received
It the stand-by period and its accounts for the proportion of residing phase duration, each specific muscle groups of lower extremitates duration of contraction before contracting and its accounts for residing
The proportion of phase duration；And using the information that these are known as with reference to database；
U3. the walk of the target lower limb of target person is analyzed, determines rank abnormal in the target lower limb walking cycle
Section, and take this as a foundation in conjunction with the corresponding data in reference database, determine the specific muscle groups of lower extremitates shunk in each abnormal stage；
U4. the walk of another lower limb of target person is analyzed, determines the walking cycle duration of another lower limb, and with
This is according to the corresponding data combined in reference database, and each exception stage in target lower limb walking cycle that calculates should hold
The continuous time, and then calculate should having for each specific muscle groups of lower extremitates in each abnormal stage and shrink the preceding stand-by period and should there is contraction to continue
Time；
U5. each specific muscle groups of lower extremitates of U3 determinations is carried out with each stimulation channels corresponding；In conjunction with the calculated data of U4, further
Stand-by period and stimulus duration before the stimulation of each stimulation channels is calculated；
The second step further includes：According to stand-by period before the stimulation of each stimulation channels obtained by U5 and stimulus duration setting
The stimulation parameter of each stimulation channels.
2. muscle group dynamic electro photoluminescence integrated control system according to claim 1, characterized in that the stimulation parameter modulation
There are unit several modulator groups, the control terminal of each modulator group to be connected with the controlled end of corresponding stimulation channels；The modulator
Group is respectively by before stimulus waveform modulator, stimulus intensity modulator, frequency of stimulation modulator, the wide modulator of stimulus wave, stimulation etc.
Wait for time modulator and stimulus duration modulator composition.
3. muscle group dynamic electro photoluminescence integrated control system according to claim 2, characterized in that the stimulation parameter modulation
Unit also has input equipment and display equipment to adjust each modulator parameter；The stimulus waveform modulator, which also has, to be supplied
Select the stimulus waveform library of stimulus waveform；The stimulus waveform includes：Tooth form and arc；The quantity of the stimulation channels is at least
8.
4. muscle group dynamic electro photoluminescence integrated control system according to claim 1, characterized in that in U2, specific lower limb flesh
Mass selection is certainly：Tensor fasciae late muscle, gluteus maximus, sartorius, anterior rectus muscle, quadriceps muscle of thigh, biceps muscle of thigh, semitendinosus, tibialis anterior, shin bone
Flesh, musculus extensor digitorum longus pedis, Hallux extensor hallucis longus, musculus peroneus longus, musculus peroneus brevis, gastrocnemius, musculus soleus afterwards.
5. muscle group dynamic electro photoluminescence integrated control system according to claim 1, characterized in that the preposition step is also wrapped
It includes：U6. the target person for selecting several muscle groups of lower extremitates dyskinesia is implementing flesh using the first step to the 4th step to these target persons
Group electro photoluminescence during, by adjust stimulus waveform, stimulus intensity, frequency of stimulation and stimulus wave it is wide and monitor stimulation effect
Fruit obtains the optimal stimulation waveform of each specific muscle groups of lower extremitates, optimal stimulation strength range, optimal stimulation in walking cycle each stage
Frequency range and optimal stimulation wave wide scope；
The second step further includes：The stimulation parameter of each stimulation channels is set according to U6 results：Stimulus waveform is set as most suitable thorn
Shock wave shape, the numerical value in optimal stimulation strength range is set as by stimulus intensity, and frequency of stimulation is set as optimal stimulation frequency range
Stimulus wave width is set as the numerical value in optimal stimulation wave wide scope by interior numerical value；
4th step further includes：After judging whether that the result for stopping stimulation is no and before going to third and walking S2, sentence
It is wide that stimulus intensity, frequency of stimulation, stimulus wave is turned up if effect is that stimulation is insufficient in the effect of stimulation of disconnected each specific muscle groups of lower extremitates
At least one of, if effect is stimulation appropriateness, keep stimulus intensity, frequency of stimulation, stimulus wave wide constant, if effect is
It is at least one of wide then to turn down stimulus intensity, frequency of stimulation, stimulus wave for stimulation oversaturation.
6. muscle group dynamic electro photoluminescence integrated control system according to claim 1, characterized in that pass through dynamic electric stimulating instrument
The detailed process that the stimulation parameter of each stimulation channels is arranged in stimulation parameter modulation unit is as follows：
First select stimulation channels, then the modulator group by being connected with stimulation channels that stimulation parameter is set：Pass through stimulus waveform tune
Gained waveform, is put into the stimulation instructions of modulator group by the waveform of device modulation boost pulse processed by stimulus waveform modulator；It is logical
Stimulation oversaturation intensity modulator modulates the intensity of boost pulse, and gained intensity is put into the thorn of modulator group by stimulus intensity modulator
Swash in instruction；By the frequency of frequency of stimulation modulators modulate boost pulse, gained frequency is put by frequency of stimulation modulator
In the stimulation instructions of modulator group；Wave by the wide modulators modulate boost pulse of stimulus wave is wide, will by the wide modulator of stimulus wave
Gained wave width is put into the stimulation instructions of modulator group；By before stimulation when the waiting of stand-by period modulators modulate boost pulse
Between, stimulate the preceding stand-by period to be put into the stimulation instructions of modulator group gained by stand-by period modulator before stimulating；Pass through thorn
The duration for swashing duration modulator modulation boost pulse, the gained duration is put by stimulus duration modulator
In the stimulation instructions of modulator group；Stimulation instructions generation finishes；
Later, stimulation instructions are sent to stimulation channels by modulator group, and stimulation channels are acted by this stimulation instructions.
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| CN112915382B (en) * | 2017-10-25 | 2024-04-30 | 国家康复辅具研究中心 | Walking aid system |
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| CN103619404A (en) * | 2011-05-17 | 2014-03-05 | 诺迪克神经定位器公司 | Footwear product for functional electrical stimulation |
| CN104056353A (en) * | 2013-03-21 | 2014-09-24 | 燕铁斌 | Low-frequency functional electrical stimulation synchronous walking aid based on walking modes and control method |
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| CN103619404A (en) * | 2011-05-17 | 2014-03-05 | 诺迪克神经定位器公司 | Footwear product for functional electrical stimulation |
| CN104056353A (en) * | 2013-03-21 | 2014-09-24 | 燕铁斌 | Low-frequency functional electrical stimulation synchronous walking aid based on walking modes and control method |
| CN103405849A (en) * | 2013-08-15 | 2013-11-27 | 江苏德长医疗科技有限公司 | Rehabilitation treatment system |
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