CN112245798A

CN112245798A - Multi-joint limb rehabilitation training system and method

Info

Publication number: CN112245798A
Application number: CN202011116764.9A
Authority: CN
Inventors: 苗季
Original assignee: Xiamen Zhanhong Chuangjian Technology Co ltd
Current assignee: Xiamen Zhanhong Chuangjian Technology Co ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-01-22

Abstract

The invention relates to a multi-joint limb rehabilitation training system and a method, comprising a multi-channel perception leading device connected with a muscle mechanical movement auxiliary device; the multichannel sensing leading device comprises a stimulation generator electrically connected with a sensing prompting electrode array, wherein the stimulation generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals and sending the neuromuscular electrical stimulation signals to the sensing prompting electrode array; the muscle mechanical exercise assisting device comprises a wearable device and an auxiliary exercise device arranged inside the wearable device, wherein the auxiliary exercise device is used for performing auxiliary exercise on a part needing to be moved in the wearable device according to an auxiliary exercise signal. The multi-joint limb rehabilitation training system and the multi-joint limb rehabilitation training method provided by the invention can be used for accurately training the trainee in a coordinated manner, so that the reliability of rehabilitation training of the trainee is improved, and the actual application requirements are met.

Description

Multi-joint limb rehabilitation training system and method

Technical Field

The invention relates to the technical field of auxiliary rehabilitation training equipment, in particular to a multi-joint limb rehabilitation training system and method.

Background

Rehabilitation refers to physical activity after injury that is beneficial to recovery or improvement of function. Generally, a patient who is in a bed for a long time often needs to do some rehabilitation training through a rehabilitation training robot to exercise the body, so that the body recovers the normal function.

At present, robots for rehabilitation training of trainees mainly provide exogenous mechanical support for corresponding joints or limbs through electromechanical systems combined electromechanically, and help the paralyzed limbs of the trainees to realize designated actions and corresponding motion tracks, such as exoskeletons and flexible robots.

However, during training, a robot (such as an exoskeleton or a flexible robot) can correct the deviation of the trainee's action from the motion track, but cannot prompt the trainee which muscles should be used in the process to complete the standard action. Moreover, most of the existing upper limb robots are single joint auxiliary systems, and the perception guidance of different muscles in each time phase is lacked. Therefore, the coordinated movement of the elbow, wrist and fingers cannot be realized.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a system and a method for rehabilitation training of articulated limbs, which can perform accurate coordinated training of a trainee and improve the reliability of rehabilitation training of the trainee.

A multi-joint limb rehabilitation training system comprises a multi-channel perception leading device connected with a muscle mechanical movement auxiliary device;

the multichannel sensing leading device comprises a stimulation generator electrically connected with a sensing prompting electrode array, wherein the stimulation generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals and sending the neuromuscular electrical stimulation signals to the sensing prompting electrode array;

the muscle mechanical exercise assisting device comprises a wearable device and an auxiliary exercise device arranged inside the wearable device, wherein the auxiliary exercise device is used for performing auxiliary exercise on a part needing to be moved in the wearable device according to an auxiliary exercise signal.

In addition, the multi-joint limb rehabilitation training system provided by the invention can also have the following additional technical characteristics:

furthermore, the system also comprises a control device which is respectively and electrically connected with the muscle mechanical movement auxiliary device and the multi-channel perception leading device, and the control device is used for respectively sending the generated myoelectric signals and auxiliary movement signals to the multi-channel perception leading device and the muscle mechanical movement auxiliary device.

Furthermore, the wearable device comprises shoulder straps and gloves which are respectively arranged at two ends of the oversleeve, the shoulder straps and the oversleeve are integrally formed, and the tail end of each shoulder strap is provided with an adjusting structure for adjusting the length of the shoulder strap; the glove comprises an integrally formed hand and a finger stall arranged on the surface of one side of the hand.

Further, the hand includes fixed knot structure, palm portion structure and through connection structure with finger portion structure that palm portion structure connects, connection structure is the J type.

Furthermore, the auxiliary exercise device comprises a first air bag and a second air bag which are respectively arranged inside the oversleeve and the gloves, the input/output ends of the first air bag and the second air bag are connected with the air pump through an air transmission pipeline, and the air transmission pipeline is provided with a pressure sensor and an electromagnetic valve which are electrically connected with the control device.

Another embodiment of the present invention provides a multi-joint limb rehabilitation training method, which solves the problem that the existing robot can correct the deviation of the trainee's actions from the motion track, but cannot prompt the trainee which muscles should be used to complete the standard actions in the process, so that the coordinated actions of the elbow, wrist and fingers cannot be realized.

The multi-joint limb rehabilitation training method provided by the embodiment of the invention is applied to the multi-joint limb rehabilitation training system, and comprises the following steps:

acquiring an electromyographic signal of the skin surface of a trainee;

generating a neuromuscular electrical stimulation signal according to the electromyographic signal and sending the neuromuscular electrical stimulation signal to a perception prompting electrode array so that the perception prompting electrode array performs neuromuscular electrical stimulation on the current muscle group to prompt and/or assist the muscle group to move;

and generating an auxiliary motion signal according to the electromyographic signal and sending the auxiliary motion signal to an auxiliary motion device so that the auxiliary motion device performs auxiliary motion on the part needing motion in the wearable device.

In addition, the multi-joint limb rehabilitation training method provided by the invention can also have the following additional technical characteristics:

further, the method of generating an auxiliary exercise signal according to the electromyographic signal and transmitting the auxiliary exercise signal to an auxiliary exercise device includes:

determining the joint and the direction to be moved according to the auxiliary motion signal, the priority motion joint model and the joint motion model;

and obtaining auxiliary motion information for performing auxiliary motion on the joint needing to move according to the joint needing to move, the direction and the auxiliary motion model, and issuing an auxiliary motion signal to the auxiliary motion device according to the auxiliary motion information.

Further, the priority motion joint model and the joint motion model are respectively:

wherein M is_i(t) is the normalized electromyographic signal amplitude of the muscle i for joint movement; w is a_iPresetting the weight value of i muscles;<w_i|M_i(t)|>all electromyographic signal sets for joint motion; y is_i(t) is the real-time amplitude of the trainee's subjective contraction of muscle i;

the maximum value at which the trainee subjectively contracts the muscle i; m_ext(t) normalizing and taking real-time electromyographic signals of joint abductors after absolute values; m_fleAnd (t) is the myoelectric signal of the current joint flexor.

Further, the auxiliary motion model is:

wherein, Pj (t) is used for assisting the real-time air pressure inside the current joint j; the threshold is the minimum muscle output required to obtain mechanical assistance stably; m_i(t) is the normalized electromyographic signal amplitude of the muscle i for joint movement;

an auxiliary motion maximum value output for the auxiliary motion device;

auxiliary motion minimum output by auxiliary motion device

Further, a stimulation model for generating a neuromuscular electrical stimulation signal according to the electromyographic signal is as follows:

wherein S is_i(t) is the real-time perceived stimulation intensity produced by the stimulation generator on muscle i; s_iMaxMinimum sensible stimulation intensity to prompt the electrode array to produce a sensible stimulation on the muscle for perception; s_iMinThe electrode array is suggested to produce a maximum sensible stimulation intensity of the sensible stimulation on the muscle for perception, and the intensity does not cause the muscle to actively contract.

According to the multi-joint limb rehabilitation training system and the multi-joint limb rehabilitation training method, the muscle mechanical movement auxiliary device and the multi-channel sensing leading device are respectively and electrically connected with the control device; the multi-channel perception leading device comprises a stimulus generator electrically connected with a perception prompting electrode array, wherein the stimulus generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals sent by the control device and sending the neuromuscular electrical stimulation signals to the perception prompting electrode array; the muscle mechanical exercise assisting device comprises a wearable device and an auxiliary exercise device arranged inside the wearable device, and the auxiliary exercise device is used for performing auxiliary exercise on a part needing to be moved in the wearable device according to an auxiliary exercise signal sent by the control device. According to the wearable device, the electromyographic signal of the skin surface of the trainee is acquired, and the auxiliary motion signal, the priority motion joint model, the joint motion model and the auxiliary motion model which are acquired according to the electromyographic signal are used for determining the auxiliary motion information for performing auxiliary motion on the joint needing to be moved, and the auxiliary motion device is used for performing auxiliary motion on the joint needing to be moved in the wearable device according to the auxiliary motion signal, so that accurate coordinated training of the trainee is realized, and the reliability of rehabilitation training of the trainee is improved.

Drawings

FIG. 1 is a block diagram illustrating the overall structure of a multi-joint limb rehabilitation training system according to a first embodiment of the present invention;

FIG. 2 is a block diagram of the multi-channel leading sensing device of FIG. 1;

FIG. 3 is a block diagram of the mechanical muscle movement assistance device of FIG. 1;

FIG. 4 is a block diagram of the wearable device of FIG. 3;

FIG. 5 is a block diagram illustrating the structure of the exercise assisting apparatus of FIG. 3;

FIG. 6 is a schematic view of the connection structure of the shoulder strap and the sleeve of FIG. 4;

FIG. 7 is a schematic view of the structure of FIG. 6 from another perspective;

FIG. 8 is a schematic view of the first bladder assisting movement at the joint;

FIG. 9 is a schematic view of the construction of the glove of FIG. 4;

FIG. 10 is a schematic view of the structure of FIG. 8 from another perspective;

FIG. 11 is a schematic view of the deployment of the glove of FIG. 4;

FIG. 12 is a schematic view of a second bladder assisting hand movement;

FIG. 13 is a schematic structural diagram of the control device in FIG. 1;

FIG. 14 is a flowchart of a multi-joint limb rehabilitation training method according to a second embodiment of the present invention;

fig. 15 is a detailed flowchart of step S30 in fig. 14.

Description of the main element symbols:

control device	10	Multichannel perception leading device	20
				Stimulus generator	21	Perception prompting electrode array	22
Mechanical muscle movement assisting device	30	Wearable device	31
				Shoulder belt	311	Oversleeve	312
Gloves	313	Hand part	313a
				Finger stall
	313b	Auxiliary transportMoving device	32
				First air bag	321	Second air bag	322
Air pump	323

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," and the like are for illustrative purposes only and do not indicate or imply that the referenced device or element must be in a particular orientation, constructed or operated in a particular manner, and is not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 10, the multi-joint limb rehabilitation training system according to the embodiment of the present invention includes a multi-channel sensing leading device 20 and a mechanical muscle movement assisting device 30 electrically connected to a control device 10. The control device 10 is configured to send the generated myoelectric signal and the generated auxiliary exercise signal to the multi-channel sensing and guiding device 20 and the mechanical muscle exercise assisting device 30, respectively.

Further, the control device 10 includes a bottom case and an upper cover that are engaged with each other, a main circuit board, a battery pack for supplying power to the main circuit board, and a switch button for controlling the main circuit board to open and close are disposed in an accommodating space formed by the bottom case and the upper cover, and the main circuit board is a core board of cortix-M3.

Further, the multi-channel sensing leading device 20 comprises a stimulation generator 21 electrically connected with a sensing cue electrode array 22.

Specifically, the sensing and prompting electrode array 22 is electrically connected with the stimulation generator 21 through an external lead, and the stimulation generator 21 is electrically connected with the main circuit board. The sensory cue electrode array 22 is conformable to the skin of the trainee's site and is capable of obtaining electrical muscle signals from the trainee's skin surface. The stimulation generator 21 is configured to generate a corresponding neuromuscular electrical stimulation signal according to the electromyographic signal issued by the control device 10, and send the neuromuscular electrical stimulation signal to the perception prompting electrode array 22, so that the perception prompting electrode array 22 provides perception stimulation and/or exercise auxiliary stimulation to a muscle group of a trainee. In one embodiment, the sensing and prompting electrode array 22 may be disposed at the biceps brachii and triceps brachii of the upper arm of the trainee, and may be disposed at the flexor muscle group and extensor muscle group of the forearm of the trainee.

It will be appreciated that by the arrangement of the multi-channel leading sensing device 20, it is possible to perform sensing stimulation prompting and/or stimulation assisting exercise on the corresponding skin position of the target muscle group which is contracted and extended by the trainee, i.e. informing the trainee of the position of the relevant muscle for the desired exercise of the user, or performing stimulation assisting exercise by enhancing and inducing the contraction of the relevant muscle by stimulation. Furthermore, in addition to providing the sensory and/or auxiliary motor stimuli, the sensory cue electrode array 22 may also obtain electrical muscle signals from the corresponding skin surface as input to the control device 10 for real-time control of the amount of auxiliary force provided by the mechanical motor assistance device and the stimulus generator 21.

Further, the muscle mechanical exercise assisting device 30 includes a wearable device 31 and an auxiliary exercise device 32 disposed inside the wearable device 31. The auxiliary motion device 32 is used for performing auxiliary motion on a part of the wearable device 31 needing motion according to the auxiliary motion signal.

Specifically, the wearable device 31 includes a shoulder strap 311 and a glove 313 respectively disposed at two ends of a sleeve 312. The shoulder strap 311 and the sleeve 312 are integrally formed, and an adjusting structure for adjusting the length of the shoulder strap 311 is disposed at the end of the shoulder strap 311. The shoulder straps 311 are disposed at the elbows of the sleeves 312, and are integrally formed with the elbows, so as to improve the reliability of the connection between the shoulder straps 311 and the sleeves 312. The length of the two ends of the shoulder strap 311 is not limited to be adjusted by a hook and loop fastener, a buckle, or a magnet. The sleeve 312 is provided with a sleeve on the side near the elbow socket to accommodate the arm and to mount the auxiliary exercise device 32. The both ends accessible magic of oversleeve 312 is pasted and is carried out the regulation of elasticity degree, and the magic of one end is pasted promptly and is adjusted towards clockwise direction, and the magic of the other end is pasted and is adjusted towards anticlockwise direction, is the zigzag when both ends are all opened. And the cloth bag for containing the air bag is made of elastic material, such as lycra fabric, but not limited thereto.

Specifically, the glove 313 includes an integrally molded hand 313a and a finger cuff 313b provided on one surface of the hand 313 a. The hand 313a includes fixed knot structure, palm portion structure and through connection structure with the finger portion structure that palm portion structure connects, connection structure is the J type, is equipped with the fixed knot who is used for fixed four fingers and thumb respectively in one side and one side of palm portion structure promptly and constructs. Wherein the fixed knot constructs can fix in the trainee's wrist through the magic subsides, connecting portion can contract and extend when the trainee carries out hand 313a to open and hold, and palm structure, finger structure and connection structure are the intercommunication structure promptly, and can make the palm contract and extend under the effect of the supplementary telecontrol equipment of holding wherein. It will be appreciated that in other embodiments, the palm structure of the hand 313a of the glove 313 is provided with a support structure perpendicular to the palm structure for stretching the hand of the trainee under the action of the auxiliary exercise device accommodated therein.

Further, the auxiliary exercise device 32 includes a first air bag 321 and a second air bag 322 respectively disposed inside the oversleeve 312 and the glove 313, input/output ends of the first air bag 321 and the second air bag 322 are connected to the air pump 323 through an air pipe, and the air pipe is provided with a pressure sensor and an electromagnetic valve electrically connected to the control device 10. The air pump 323 is disposed in an accommodating space formed by the bottom case and the upper cover of the control device 10, and is electrically connected to the main circuit board of the control device 10.

Specifically, the first air cell 321 is disposed on the inner side of the sleeve 312 near the elbow socket, and the second air cell 322 is disposed on the glove 313 near the palm and wrist. Due to the design of the pressure sensor and the electromagnetic valve, the control device 10 can control the working states of the electromagnetic valve and the air pump 323 according to the pressure of the gas in the glove 313 and the sleeve 312 on each muscle group. For example, the flow and the flow speed at the interface of the air pump 323 and each air transmission pipeline are increased or decreased, and the opening of the electromagnetic valve is adjusted to adjust the flow and the flow speed of the air flowing into each air bag inlet in the air transmission pipe. Wherein the solenoid valve is a flow solenoid valve.

In specific implementation, the sensing and prompting electrode array is attached to the skin surfaces of the extensor and flexor muscles (muscle groups) of the biceps brachii and triceps brachii of the upper arm and the forearm, and can acquire the skin surface electromyographic signals of the muscles (muscle groups) and transmit the signals to the main circuit board of the equipment control device through an external lead. The control device analyzes the collected electromyographic signals to know the upper limb action consciousness of the trainee, so as to send a command to start the air pump in the auxiliary exercise device to generate air, and the air pump in the oversleeve and the air bag in the glove are inflated in sequence by connecting the air transmission pipeline, thereby achieving the purpose of assisting the trainee to open the arm and open the palm in sequence. When an air pump in the auxiliary exercise device inflates the air bag, low-frequency current is sent according to instructions and is transmitted to the perception prompt electrode array through an external lead to stimulate the extensor and flexor muscles (muscle groups) of the biceps brachii and triceps brachii muscles or the forearms of the upper arms correspondingly so as to prompt the trainee to voluntarily contract the corresponding muscles; or by delivering an enhanced stimulation current to contract the corresponding muscle, to assist the trainee in performing the extension, opening and bending movements of the elbow, wrist and finger joints. It can be understood that the electromyographic signal acquisition, the air pump inflation control and the low-frequency electrical stimulation can also be independently operated and used to respectively assist the upper arm or the forearm to act.

The process is started by skin surface electromyogram signals collected by corresponding muscles (muscle groups) of the upper limb to be trained, instructions are given after the signals are analyzed by the control device, the corresponding air pumps are operated to the air bags of the oversleeves and the gloves, and low-frequency current is provided to stimulate the corresponding muscles, so that the elbow, wrist and finger joints of the upper limb to be trained are cooperatively opened and bent according to the sequential stretching.

The multi-joint limb rehabilitation training system can also be used for training at different positions of the body of a trainee, such as the knee joint and the ankle joint of the lower limb.

The multi-joint limb rehabilitation training system provided by the invention is characterized in that the muscle mechanical movement auxiliary device and the multi-channel perception leading device are respectively and electrically connected with the control device; the multi-channel perception leading device comprises a stimulus generator electrically connected with a perception prompting electrode array, wherein the stimulus generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals sent by the control device and sending the neuromuscular electrical stimulation signals to the perception prompting electrode array; the muscle mechanical exercise assisting device comprises a wearable device and an auxiliary exercise device arranged inside the wearable device, and the auxiliary exercise device is used for performing auxiliary exercise on a part needing to be moved in the wearable device according to an auxiliary exercise signal sent by the control device. According to the wearable device, the electromyographic signal of the skin surface of the trainee is acquired, and the auxiliary motion signal, the priority motion joint model, the joint motion model and the auxiliary motion model which are acquired according to the electromyographic signal are used for determining the auxiliary motion information for performing auxiliary motion on the joint needing to be moved, and the auxiliary motion device is used for performing auxiliary motion on the joint needing to be moved in the wearable device according to the auxiliary motion signal, so that accurate coordinated training of the trainee is realized, and the reliability of rehabilitation training of the trainee is improved.

Referring to fig. 11, a multi-joint limb rehabilitation training method provided in the embodiment of the present invention is applied to the multi-joint limb rehabilitation training system, and the method includes steps S10 to S30:

in step S10, an electromyographic signal of the skin surface of the trainee is acquired.

And step S20, generating a neuromuscular electrical stimulation signal according to the electromyographic signal and sending the neuromuscular electrical stimulation signal to the perception prompting electrode array so that the perception prompting electrode array can carry out neuromuscular electrical stimulation auxiliary movement on the current muscle group.

wherein S is_i(t) is the real-time perceived stimulation intensity produced by the stimulation generator on muscle i; s_iMaxPrompting electrode array generation on muscle for perceptionThe minimum sensible stimulation intensity of the sensory stimulation can improve the excitement of the trainee to the paralyzed muscles and improve the training effect; s_iMinThe electrode array is suggested to produce a maximum sensible stimulation intensity of the sensible stimulation on the muscle for perception, and the intensity does not cause the muscle to actively contract.

As described above, the electromyographic signals of the skin surface of the trainee acquired by the sensing and prompting electrode array are determined according to the obtained electromyographic signals and the stimulation model. The electromyographic signals comprise stimulation information of the current muscle group, and can control the stimulation generator to generate corresponding neuromuscular electrical stimulation signals and send the neuromuscular electrical stimulation signals to the perception prompting electrode array so as to perform stimulation prompting and/or stimulation auxiliary movement on the current muscle group. The present application enables the current muscle group to contract to different degrees by generating stimulation currents of different intensities. Specifically, when the stimulation current generated is large enough, the current muscle group will be induced to contract, so as to realize the stimulation auxiliary exercise for the current muscle group; when the generated stimulation current is a general current, the sensing prompt of the current muscle group is realized, and the current muscle is not contracted.

And step S30, generating an auxiliary motion signal according to the electromyographic signal and sending the auxiliary motion signal to an auxiliary motion device so that the auxiliary motion device performs auxiliary motion on the part needing motion in the wearable device.

Referring to fig. 12, the method of generating an auxiliary exercise signal according to the electromyographic signal and transmitting the auxiliary exercise signal to an auxiliary exercise device includes:

and step 31, determining the joint and the direction to be moved according to the auxiliary motion signal, the priority motion joint model and the joint motion model.

The priority motion joint model and the joint motion model are respectively as follows:

wherein M is_i(t) is the normalized electromyographic signal amplitude of the muscle i for joint movement; w is a_iPresetting the weight value of i muscles;<w_i|M_i(t)|>all electromyographic signal sets for joint motion; y is_i(t) is the real-time amplitude of the trainee's subjective contraction of muscle i; y is_iMaxThe maximum value at which the trainee subjectively contracts the muscle i; m_ext(t) normalizing and taking real-time electromyographic signals of joint abductors after absolute values; m_fleAnd (t) is the myoelectric signal of the current joint flexor.

As described above, the joints and the directions (e.g., extension or flexion) to be moved are determined according to the stimulation information, the preferential movement joint model and the joint movement model, so that the training mode and the training sequence more suitable for the wishes of the trainees are obtained, the reliability of muscle training for the trainees is improved, and the satisfaction of the trainees in the training experience is also improved. It is understood that in other embodiments of the present invention, M can also be characterized by the strength of the muscle sound signal and the corresponding brain area signal (such as brain electrical signal and brain magnetic signal) measured on the contracted muscle of the trainee_i(t)。

And step S32, obtaining auxiliary motion information for assisting the motion of the joint to be moved according to the joint to be moved, the direction and the auxiliary motion model, and issuing an auxiliary motion signal to the auxiliary motion device according to the auxiliary motion information.

The auxiliary motion model is as follows:

an auxiliary motion maximum value output for the auxiliary motion device;

the minimum value of the auxiliary motion output by the auxiliary motion device.

As described above, the motion assisting apparatus assists the trainee in moving the desired portion according to the received motion assisting signal by obtaining the motion assisting information for assisting the motion of the desired motion joint based on the desired motion joint, the direction and the motion assisting model. And the relevance, accuracy and reliability of auxiliary movement are further improved. More personalized training modes can be carried out according to the actual conditions of all trainees.

The multi-joint limb rehabilitation training method provided by the invention comprises the following steps that a muscle mechanical movement auxiliary device and a multi-channel sensing leading device are respectively and electrically connected with a control device; the multi-channel perception leading device comprises a stimulus generator electrically connected with a perception prompting electrode array, wherein the stimulus generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals sent by the control device and sending the neuromuscular electrical stimulation signals to the perception prompting electrode array; the muscle mechanical exercise assisting device comprises a wearable device and an auxiliary exercise device arranged inside the wearable device, and the auxiliary exercise device is used for performing auxiliary exercise on a part needing to be moved in the wearable device according to an auxiliary exercise signal sent by the control device. According to the wearable device, the electromyographic signal of the skin surface of the trainee is acquired, and the auxiliary motion signal, the priority motion joint model, the joint motion model and the auxiliary motion model which are acquired according to the electromyographic signal are used for determining the auxiliary motion information for performing auxiliary motion on the joint needing to be moved, and the auxiliary motion device is used for performing auxiliary motion on the joint needing to be moved in the wearable device according to the auxiliary motion signal, so that accurate coordinated training of the trainee is realized, and the reliability of rehabilitation training of the trainee is improved.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in the above-described flowcharts may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a portion of the sub-steps or stages of other steps.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A multi-joint limb rehabilitation training system is characterized by comprising a multi-channel perception leading device connected with a muscle mechanical movement auxiliary device;

2. The multi-joint limb rehabilitation training system according to claim 1, further comprising a control device electrically connected to the mechanical muscle movement assisting device and the multi-channel sensing leading device, respectively, the control device being configured to send the generated myoelectric signal and the auxiliary movement signal to the multi-channel sensing leading device and the mechanical muscle movement assisting device, respectively.

3. The system for rehabilitation training of multi-joint limbs according to claim 2, wherein the wearable device comprises a shoulder strap and a glove respectively disposed at two ends of a sleeve, the shoulder strap and the sleeve are integrally formed, and an adjusting structure for adjusting the length of the shoulder strap is disposed at the end of the shoulder strap; the glove comprises an integrally formed hand and a finger stall arranged on the surface of one side of the hand.

4. The multi-joint limb rehabilitation training system of claim 3, wherein the hand comprises a fixation structure, a palm structure and a finger structure connected with the palm structure by a connection structure, the connection structure being J-shaped.

5. The system for rehabilitation training of articulated limbs according to claim 3, wherein the auxiliary exercise device comprises a first air cell and a second air cell respectively disposed inside the oversleeve and the glove, input/output ends of the first air cell and the second air cell are connected to the air pump through an air pipe, and the air pipe is provided with a pressure sensor and an electromagnetic valve electrically connected to the control device.

6. A multi-joint limb rehabilitation training method applied to the multi-joint limb rehabilitation training system of any one of claims 1 to 5, the method comprising:

acquiring an electromyographic signal of the skin surface of a trainee;

7. The multi-joint limb rehabilitation training method according to claim 6, wherein the method for generating the auxiliary movement signal according to the electromyographic signal and sending the auxiliary movement signal to the auxiliary movement device comprises the following steps:

8. The multi-joint limb rehabilitation training method according to claim 7, wherein the preferential motion joint model and the joint motion model are respectively:

Joint(t)＝Max<w_i|M_i(t)|>，

9. The multi-joint limb rehabilitation training method according to claim 7, wherein the auxiliary motion model is:

wherein, Pj (t) is used for assisting the real-time air pressure inside the current joint j; the threshold is the minimum muscle output required to obtain mechanical assistance stably; m_i(t) is the normalized electromyographic signal amplitude of the muscle i for joint movement; p_jMaxAn auxiliary motion maximum value output for the auxiliary motion device; p_jMinThe minimum value of the auxiliary motion output by the auxiliary motion device.

10. The multi-joint limb rehabilitation training method according to claim 1, wherein a stimulation model for generating the neuromuscular electrical stimulation signal according to the electromyographic signal is as follows: