CN113499572A - Rehabilitation robot with myoelectric stimulation function and control method thereof - Google Patents
Rehabilitation robot with myoelectric stimulation function and control method thereof Download PDFInfo
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- CN113499572A CN113499572A CN202110913306.6A CN202110913306A CN113499572A CN 113499572 A CN113499572 A CN 113499572A CN 202110913306 A CN202110913306 A CN 202110913306A CN 113499572 A CN113499572 A CN 113499572A
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Abstract
The invention provides a myoelectric stimulation control method applied to rehabilitation equipment, wherein the rehabilitation equipment at least comprises an exoskeleton robot for myoelectric stimulation rehabilitation training of a user, and the method comprises the following steps: starting the equipment to acquire basic information of a user; judging the user type, acquiring user training data and initializing equipment configuration; if the user is a new user, automatically positioning and acquiring the myoelectricity stimulation optimal position of the user through myoelectricity stimulation; responding to a training instruction input by a user, and entering a myoelectric stimulation training mechanism matched with the training instruction. The invention solves the problems that the myoelectric stimulation position is inaccurate, the myoelectric stimulation effect is poor due to nerve tolerance, and the varus/valgus/upper limb myasthenia of the foot cannot be corrected in the prior art.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a rehabilitation robot with a myoelectric stimulation function and a control method thereof.
Background
Pulsed muscle electrical stimulation is the stimulation of the nerves of a patient's target muscle group with artificial weak current pulse signals, and is commonly used in force training of disused muscles due to long-term inactivity, surgery or injury, to maintain muscle mass, maintain and increase joint mobility, promote voluntary muscle control, and reduce spasms, prevent muscle atrophy. The rehabilitation robot is a wearable robot and can be used for rehabilitation of patients with dyskinesia, muscle functional injury and joint functional injury.
However, among commercially available products, the pulsed muscle electro-stimulator and the rehabilitation robot have their disadvantages, respectively. For patients with muscle and nerve function damage, in the process of using the rehabilitation robot for rehabilitation training, the foot drop and the foot eversion are easy to occur, the existing rehabilitation robots on the market mostly adopt a binding band fixing mode to prevent the foot drop, and the rehabilitation robot can not play a role in rehabilitation for the foot drop and the foot eversion of the patients; in addition, the rehabilitation robot also comprises patients with impaired functions of upper limbs, knee joints and the like, and the existing rehabilitation robot on the market mainly aims at the rehabilitation training of joint activity degree and has relatively less muscle rehabilitation. The pulse muscle stimulator requires that the wearing position must be accurate, otherwise, the phenomenon that the target nerve can not be accurately stimulated due to improper wearing of the pulse muscle stimulator is easy to occur; if human brachiocephalic triceps acts on an elbow extending joint and a shoulder extending joint, the biceps brachii acts on an elbow bending joint, the forearm rotates backwards, and the tibialis anterior muscle can help the foot to bend and invert, the individual difference of the human body structure is large, the muscle positions of different patients have difference, the positions needing stimulation have deviation, the muscle positions need to be adjusted for many times when being worn, the use is complicated, and the rehabilitation effect is poor; and under the condition of lasting electro photoluminescence, the condition of neural tolerance fatigue easily appears, and in the patient use, along with the increase of neural tolerance degree, need recovered teacher to increase the electro photoluminescence electric quantity, if the electric quantity exceeds safety range, can cause the damage to the patient.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a myoelectric stimulation control method applied to rehabilitation equipment.
In order to achieve the above object, the present invention is achieved by the following technical solutions, wherein the myoelectric stimulation control method is applied to a rehabilitation device, the rehabilitation device at least comprises an exoskeleton robot for a user to perform myoelectric stimulation rehabilitation training, and the method comprises the following steps:
s01, starting the equipment to obtain the basic information of the user;
s02, judging the user type, acquiring user training data and initializing equipment configuration;
s03, if the user is a new user, automatically positioning through myoelectric stimulation to obtain the best myoelectric stimulation position of the user;
and S04, responding to a training instruction input by a user, and entering a myoelectric stimulation training mechanism matched with the training instruction.
Further, the user basic information includes, but is not limited to, user ID, height, weight, age, arm length, and leg length.
Further, the user training data includes, but is not limited to, a joint activity range, a myoelectric stimulation optimal position, a myoelectric stimulation electric quantity range, a myoelectric stimulation electric quantity threshold value, and the like.
Further, the method for automatically positioning and acquiring the myoelectric stimulation optimal position of the user through myoelectric stimulation comprises the following steps:
s11, acquiring an electromyographic stimulation initial position and the lowest electromyographic stimulation electric quantity;
s12, collecting sensor data;
s13, judging whether the current user state data is in a preset range, and if so, outputting the current myoelectric stimulation position;
s14, when the user state data exceed the preset range, increasing the strength of the electromyographic stimulation electric quantity and judging whether the strength of the electric quantity reaches a preset threshold value;
s15, if the electric quantity reaches a preset threshold value, adjusting the myoelectric stimulation position; and if the electric quantity does not reach the preset threshold value, returning to the step of acquiring the sensor data.
Further, the myoelectric stimulation training mechanism includes:
the system comprises a myoelectric stimulation training mode, an active force generation training mode, an anti-resistance training mode and an evaluation mode, wherein the myoelectric stimulation training mechanisms are independently operated at the same time.
Further, the myoelectric stimulation training mode comprises the following steps:
s21, acquiring the best myoelectric stimulation position of the user;
s22, sending myoelectric stimulation signals and collecting sensor data in real time;
s23, judging whether the sensor data are abnormal or not, if the data are normal, keeping sending the electromyographic stimulation signal until a training end or a suspension instruction is obtained;
s24, when the data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step 22;
s25, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S22.
Further, the active exertion training mode comprises the following steps:
s30, actively exerting force by a user and collecting sensor data in real time;
s31, judging whether the user state data are in a preset range, if so, prompting the user to keep actively exerting strength training until a training end or a suspension instruction is obtained;
s32, when the user state data exceed the preset range, sending a myoelectric stimulation signal, and collecting sensor data in real time;
s33, judging whether the sensor data are abnormal or not, and if the data are normal, prompting a user to keep actively exerting strength for training until a training end or a suspension instruction is obtained;
s34, when the sensor data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value;
s35, if the electric quantity intensity does not reach the preset threshold value, returning to the step S32;
s36, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S30.
Further, the resistance training mode comprises the following steps:
s40, setting resistance parameters, and outputting resistance load by a driver;
s41, actively exerting force by a user and collecting sensor data in real time;
s42, judging whether the user state data is in a preset range, if so, prompting the user to keep resistance training until a training end or a suspension instruction is obtained; when the user state data exceeds the preset range, the step S43 is executed;
s43, sending myoelectric stimulation signals and collecting sensor data in real time;
s44, judging whether the sensor data are abnormal or not, if the data are normal, prompting a user to keep resistance training until a training end or a suspension instruction is obtained;
s45, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step S43;
s46, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S41.
Further, the evaluation mode comprises the following steps:
s51, the user actively exerts force;
s52, collecting sensor data in real time;
and S53, feeding back user state information.
The myoelectric stimulation control system applied to the rehabilitation equipment is characterized by comprising a main control module, a driving module, a data transmission module, a myoelectric stimulation control module, an electrode sheet group and a sensor; the main control module is used for acquiring/executing a user operation instruction, judging an instruction, executing a training mode, processing a signal and driving and controlling; the driving module is used for driving the rehabilitation equipment to output resistance load; the data transmission module is used for downloading/uploading user basic information and user training data between the rehabilitation equipment and the cloud end; the myoelectricity stimulation control module is used for controlling the electrode plate to output a myoelectricity stimulation electric signal.
Further, the sensor includes, but is not limited to, an angle sensor, a pressure sensor, a moment sensor, an attitude sensor, and an electromyography sensor.
A computer-readable storage medium, in which a computer program is stored which, when being executed, carries out the method steps of any one of claims 1 to 9.
The invention has the following beneficial effects and advantages: 1. the optimal position of myoelectric stimulation is automatically positioned, the target nerve can be accurately stimulated, the muscle activity of a patient can be kept through weak electric quantity, and the muscle atrophy is prevented; 2. monitoring the nerve tolerance condition of a patient in real time, and realizing the optimal myoelectric stimulation effect in a safety range; 3. by combining the pulse muscle electrical stimulation with the exoskeleton robot, the rehabilitation effect of the exoskeleton robot is improved, for example, when a patient uses the exoskeleton robot to perform rehabilitation training, symptoms such as strephenopodia, foot drop, upper limb myasthenia and the like are corrected in time; 4. the muscle electrical stimulation mode is enriched, and an active mode, an anti-resistance mode and an evaluation mode are added on the basis of a passive mode existing in the market.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.
Fig. 1 is a schematic flow chart of an electromyographic stimulation control method applied to a rehabilitation device in the present invention.
FIG. 2 is a schematic diagram of an automatic myoelectric stimulation positioning process according to the present invention.
FIG. 3 is a schematic diagram of the position adjustment of the myoelectric stimulation according to the present invention.
FIG. 4 is a schematic diagram of a process of a training mode of myoelectric stimulation according to the present invention.
FIG. 5 is a schematic diagram of the active exertion training mode of the present invention.
Fig. 6 is a schematic flow chart of the resistance training mode of the present invention.
FIG. 7 is a schematic view of the evaluation mode of the present invention.
Fig. 8 is a functional structure diagram of the myoelectric stimulation control system applied to the rehabilitation device in the invention.
Detailed Description
To facilitate an understanding of the present application, the present application is described in more detail below with reference to the drawings and detailed description, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.
Example 1:
as shown in fig. 1 to 7, the present invention provides an electromyographic stimulation control method applied to a rehabilitation device, where the rehabilitation device at least includes an exoskeleton robot for a user to perform electromyographic stimulation rehabilitation training, and the method includes the following steps:
s01, starting the equipment to obtain the basic information of the user;
s02, judging the user type, acquiring user training data and initializing equipment configuration;
s03, if the user is a new user, automatically positioning through myoelectric stimulation to obtain the best myoelectric stimulation position of the user;
and S04, responding to a training instruction input by a user, and entering a myoelectric stimulation training mechanism matched with the training instruction.
Further, the user basic information includes, but is not limited to, user ID, height, weight, age, arm length, leg length, etc.
Further, the user training data includes, but is not limited to, a joint activity range, a myoelectric stimulation optimal position, a myoelectric stimulation electric quantity range, a myoelectric stimulation electric quantity threshold, and the like.
For example, when a user uses a rehabilitation device with a myoelectric stimulation function, the user needs to fix a part to be subjected to myoelectric stimulation rehabilitation training on the rehabilitation device and perform user information login authentication. The equipment acquires the basic information of the user and the training data of the user and completes the initialization configuration of the equipment. In the invention, when a user uses the device for the first time, because different people can have different parts receiving muscle electrical stimulation and different receiving sensitivities, the method also realizes the automatic positioning and obtaining of the user myoelectricity stimulation optimal position through myoelectricity stimulation. After the device obtains the optimal muscle electrical stimulation position of the user, a myoelectrical stimulation training mechanism matched with the training instruction is entered according to the training type selected by the user.
Specifically, the method for automatically positioning and acquiring the myoelectricity stimulation optimal position of the user through myoelectricity stimulation comprises the following steps:
s11, acquiring an electromyographic stimulation initial position and the lowest electromyographic stimulation electric quantity;
s12, collecting sensor data;
s13, judging whether the current user state data is in a preset range, and if so, outputting the current myoelectric stimulation position;
s14, when the user state data exceed the preset range, increasing the strength of the electromyographic stimulation electric quantity and judging whether the strength of the electric quantity reaches a preset threshold value;
s15, if the electric quantity reaches a preset threshold value, adjusting the myoelectric stimulation position; and if the electric quantity does not reach the preset threshold value, returning to the step of acquiring the sensor data.
For example, when a user uses a rehabilitation device with an electromyographic stimulation function for the first time, a main control module of the device sends an electromyographic stimulation signal to an electromyographic stimulation control module, a control electrode sheet group outputs the electromyographic stimulation signal to a preset initial position, and a joint angle sensor in the rehabilitation device monitors the joint mobility of the user in real time and feeds the joint mobility of the user back to the main control module; when detecting that the joint mobility of the user exceeds a preset range, increasing the strength of the electromyographic stimulation electric quantity, and detecting whether the strength of the electric quantity reaches a preset threshold value; when the electric quantity intensity reaches a preset threshold value and the joint activity degree is still not within a preset range, adjusting the myoelectric stimulation position; when the joint mobility of the user is within a preset range, outputting the current myoelectric stimulation position; repeating for 3-5 times to obtain a group of myoelectric stimulation position data, and selecting the myoelectric stimulation position which is in the range of joint activity and has the minimum stimulation electric quantity, namely the myoelectric stimulation optimal position.
As shown in FIG. 3, the electrode plates are arranged in a matrix, A is a myoelectric stimulation position and consists of a positive electrode position A (+) and a negative electrode position A (-). When a user uses the rehabilitation equipment for the first time, the electromyographic stimulation control module sends a lowest electric quantity electromyographic signal to an initial position A1, the joint angle sensor collects the joint motion angle value of the user in real time, if the joint motion angle of the user is not in a preset range, the electric quantity value of the electromyographic stimulation electric quantity D1 of the initial position A1 is increased until the electric quantity intensity reaches a preset threshold value and the joint motion angle is not in the preset range, and the lowest electric quantity electromyographic signal is sent to a position A2; similarly, the joint angle sensor collects the motion angle value of the joint of the user in real time, and if the motion angle of the joint of the user is within a preset range, the coordinate value of the position A2 and the current myoelectricity stimulation electric quantity (A2, D2) are returned; and sending the electromyographic signals with the lowest electric quantity to the positions A3 and A4 to obtain result feedback arrays (A3 and D3) and (A4 and D4), and selecting the electromyographic stimulation position with the lowest electric quantity from the three groups of obtained data, namely obtaining the electromyographic stimulation optimal position of the current user. In order to protect the health of the affected joint of the user and avoid secondary damage to the user, the preset range is set to be 60% of the range of the activity of the joint of the human body.
Further, the myoelectric stimulation training mechanism includes:
the system comprises a myoelectric stimulation training mode, an active force generation training mode, an anti-resistance training mode and an evaluation mode, wherein the myoelectric stimulation training mechanisms are independently operated at the same time.
Further, the myoelectric stimulation training mode comprises the following steps:
s21, acquiring the best myoelectric stimulation position of the user;
s22, sending myoelectric stimulation signals and collecting sensor data in real time;
s23, judging whether the sensor data are abnormal or not, if the data are normal, keeping sending the electromyographic stimulation signal until a training end or a suspension instruction is obtained;
s24, when the data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step 22;
s25, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S22.
When a user uses the rehabilitation equipment with the myoelectricity stimulation function, after a human nerve is stimulated for a period of time, nerve tolerance fatigue can be generated, namely, the joint activity degree is in a preset range at the beginning of muscle electrical stimulation, and after a period of time, the condition that the joint activity degree amplitude is reduced to be out of the preset range due to the nerve tolerance fatigue can occur; according to the invention, the joint mobility condition is monitored in real time through the joint angle sensor, and when the reduction of the joint mobility amplitude is detected, the myoelectricity stimulation electric quantity intensity is increased, so that the joint mobility is maintained within a preset range until the training is finished.
Further, the active exertion training mode comprises the following steps:
s30, actively exerting force by a user and collecting sensor data in real time;
s31, judging whether the user state data are in a preset range, if so, prompting the user to keep actively exerting strength training until a training end or a suspension instruction is obtained;
s32, when the user state data exceed the preset range, sending a myoelectric stimulation signal, and collecting sensor data in real time;
s33, judging whether the sensor data are abnormal or not, and if the data are normal, prompting a user to keep actively exerting strength for training until a training end or a suspension instruction is obtained;
s34, when the sensor data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value;
s35, if the electric quantity intensity does not reach the preset threshold value, returning to the step S32;
s36, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S30.
In the invention, when the muscle ability of the user is recovered to a certain level after the user uses the rehabilitation device for rehabilitation training for a period of time, the active force-exerting training mode can be selected. The user initiatively exerts force in the rehabilitation process, the device collects sensor data of the device in real time and feeds the data back to the user, so that the user can know the muscle strength level of the user in real time in the rehabilitation process, and meanwhile, when the device detects that the muscle strength level of the user is reduced, the myoelectric stimulation function is started to assist the user in power until the training is finished.
Further, the resistance training mode comprises the following steps:
s40, setting resistance parameters, and outputting resistance load by a driver;
s41, actively exerting force by a user and collecting sensor data in real time;
s42, judging whether the user state data is in a preset range, if so, prompting the user to keep resistance training until a training end or a suspension instruction is obtained; when the user state data exceeds the preset range, the step S43 is executed;
s43, sending myoelectric stimulation signals and collecting sensor data in real time;
s44, judging whether the sensor data are abnormal or not, if the data are normal, prompting a user to keep resistance training until a training end or a suspension instruction is obtained;
s45, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step S43;
s46, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S41.
In the invention, when the muscle ability of the user is recovered to a certain level, an anti-resistance training mode can be selected, in the anti-resistance training mode, the equipment driving module is used as a joint reverse activity load and forms a reaction force with the force of the user, the equipment sensor detects the joint activity and the muscle force of the user in real time and assists the myoelectricity stimulation function, so that the rehabilitation training of the user reaches a certain reasonable range
Further, the evaluation mode comprises the following steps:
s51, the user actively exerts force;
s52, collecting sensor data in real time;
and S53, feeding back user state information.
Meanwhile, the user can also select an evaluation mode to evaluate the joint activity, muscle strength, activity posture and the like of the user. For example, when the user performs gait training, the muscle electrical stimulation acts on the upper limb of the user, and the joint activity, muscle strength level, swing posture and the like of the affected upper limb of the user during walking can be monitored and fed back; the muscle electrical stimulation acts on the lower limbs of the user, and the joint activity, the muscle strength level, the gait, the ankle joint activity angle and the like of the affected lower limbs of the user during walking can be monitored and fed back.
Example 2:
a myoelectric stimulation control system applied to rehabilitation equipment is shown in figure 7 and comprises a main control module, a driving module, a data transmission module, a myoelectric stimulation control module, an electrode sheet group and a sensor; the main control module is used for acquiring/executing a user operation instruction, judging an instruction, executing a training mode, processing a signal and driving and controlling; the driving module is used for driving the rehabilitation equipment to output resistance load; the data transmission module is used for downloading/uploading user basic information and user training data between the rehabilitation equipment and the cloud end; the myoelectricity stimulation control module is used for controlling the electrode plate to output a myoelectricity stimulation electric signal.
Further, the sensor includes, but is not limited to, an angle sensor, a pressure sensor, a moment sensor, an attitude sensor, and an electromyography sensor.
For example, the rehabilitation device in the invention is connected with the user mobile terminal through a data transmission module such as bluetooth/WiFi and the like, and is used as a window for user login, instruction operation and result feedback, and user training data and user basic information are stored in the user mobile terminal or a cloud server. When the user is connected to the device through the mobile terminal, the stimulation electric quantity intensity, the position, the joint movement angle range, the joint movement strength and other related data of the user can be automatically acquired.
For specific implementation, reference may be made to the foregoing method embodiments, which are not described herein again.
In summary, the invention has the following beneficial effects and advantages: 1. aiming at patients who are in early rehabilitation and cannot exert force autonomously due to weak muscle strength, the optimal position of myoelectric stimulation is automatically positioned, target nerves can be accurately stimulated, the muscle activity of the patients can be kept through weak electric quantity, and muscle atrophy is prevented; 2. the nerve tolerance condition of a patient is monitored in real time, and the size of the myoelectricity stimulation electric quantity is automatically adjusted within a safety range, so that the optimal myoelectricity stimulation effect is realized; 3. by combining the pulse muscle electrical stimulation with the exoskeleton robot, the rehabilitation effect of the exoskeleton robot is improved, for example, when a patient uses the exoskeleton to carry out rehabilitation training, symptoms such as strephenopodia, foot drop, upper limb myasthenia and the like of the user are corrected in time; 4. the muscle electrical stimulation mode is enriched, and an active mode, an anti-resistance mode and an evaluation mode are added on the basis of a passive mode existing in the market.
The technical solutions of the present invention are described in detail in the above embodiments, it should be understood that the above embodiments are only specific examples of the present invention, and are not intended to limit the present invention, and any modification, supplement or similar substitution made within the scope of the principles of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. The myoelectric stimulation control method applied to the rehabilitation equipment is characterized in that the rehabilitation equipment at least comprises an exoskeleton robot for myoelectric stimulation rehabilitation training of a user, and the method comprises the following steps:
s01, starting the equipment to obtain the basic information of the user;
s02, judging the user type, acquiring user training data and initializing equipment configuration;
s03, if the user is a new user, automatically positioning through myoelectric stimulation to obtain the best myoelectric stimulation position of the user;
and S04, responding to a training instruction input by a user, and entering a myoelectric stimulation training mechanism matched with the training instruction.
2. The electromyographic stimulation control method applied to a rehabilitation device of claim 1 wherein the user basic information includes but is not limited to user ID, height, weight, age, arm length, leg length.
3. The myoelectric stimulation control method applied to rehabilitation equipment according to claim 2, wherein the user training data includes but is not limited to joint activity range, myoelectric stimulation optimal position, myoelectric stimulation electric quantity range, myoelectric stimulation electric quantity threshold value and the like.
4. The myoelectric stimulation control method applied to the rehabilitation device according to claim 3, wherein the automatic positioning and obtaining of the user myoelectric stimulation optimal position through myoelectric stimulation comprises the following steps:
s11, acquiring an electromyographic stimulation initial position and the lowest electromyographic stimulation electric quantity;
s12, collecting sensor data;
s13, judging whether the current user state data is in a preset range, and if so, outputting the current myoelectric stimulation position;
s14, when the user state data exceed the preset range, increasing the strength of the electromyographic stimulation electric quantity and judging whether the strength of the electric quantity reaches a preset threshold value;
s15, if the electric quantity reaches a preset threshold value, adjusting the myoelectric stimulation position; and if the electric quantity does not reach the preset threshold value, returning to the step of acquiring the sensor data.
5. The electromyographic stimulation control method applied to a rehabilitation device according to claim 4, wherein the electromyographic stimulation training mechanism comprises:
the system comprises a myoelectric stimulation training mode, an active force generation training mode, an anti-resistance training mode and an evaluation mode, wherein the myoelectric stimulation training mechanisms are independently operated at the same time.
6. An electromyographic stimulation control method applied to a rehabilitation device according to claim 5, wherein the electromyographic stimulation training mode comprises the steps of:
s21, acquiring the best myoelectric stimulation position of the user;
s22, sending myoelectric stimulation signals and collecting sensor data in real time;
s23, judging whether the sensor data are abnormal or not, if the data are normal, keeping sending the electromyographic stimulation signal until a training end or a suspension instruction is obtained;
s24, when the data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step 22;
s25, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S22.
7. The electromyographic stimulation control method applied to a rehabilitation device according to claim 5, wherein the active exertion training mode comprises the steps of:
s30, actively exerting force by a user and collecting sensor data in real time;
s31, judging whether the user state data are in a preset range, if so, prompting the user to keep actively exerting strength training until a training end or a suspension instruction is obtained;
s32, when the user state data exceed the preset range, sending a myoelectric stimulation signal, and collecting sensor data in real time;
s33, judging whether the sensor data are abnormal or not, and if the data are normal, prompting a user to keep actively exerting strength for training until a training end or a suspension instruction is obtained;
s34, when the sensor data is abnormal, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value;
s35, if the electric quantity intensity does not reach the preset threshold value, returning to the step S32;
s36, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S30.
8. An electromyographic stimulation control method applied to a rehabilitation device according to claim 5, wherein the resistive training mode comprises the steps of:
s40, setting resistance parameters, and outputting resistance load by a driver;
s41, actively exerting force by a user and collecting sensor data in real time;
s42, judging whether the user state data is in a preset range, if so, prompting the user to keep resistance training until a training end or a suspension instruction is obtained; when the user state data exceeds the preset range, the step S43 is executed;
s43, sending myoelectric stimulation signals and collecting sensor data in real time;
s44, judging whether the sensor data are abnormal or not, if the data are normal, prompting a user to keep resistance training until a training end or a suspension instruction is obtained;
s45, increasing the strength of the electromyographic stimulation electric quantity and judging whether the electric quantity strength reaches a preset threshold value, if not, returning to the step S43;
s46, acquiring a training ending or stopping instruction in real time, and if the training ending or stopping instruction is received, executing exiting or interrupting the current training; otherwise, the process returns to step S41.
9. The electromyographic stimulation control method applied to a rehabilitation device according to claim 5, wherein the evaluation mode comprises the steps of:
s51, the user actively exerts force;
s52, collecting sensor data in real time;
and S53, feeding back user state information.
10. The myoelectric stimulation control system applied to the rehabilitation equipment is characterized by comprising a main control module, a driving module, a data transmission module, a myoelectric stimulation control module, an electrode sheet group and a sensor; the main control module is used for acquiring/executing a user operation instruction, judging an instruction, executing a training mode, processing a signal and driving and controlling;
the driving module is used for driving the rehabilitation equipment to output resistance load;
the data transmission module is used for downloading/uploading user basic information and user training data between the rehabilitation equipment and the cloud end;
the myoelectricity stimulation control module is used for controlling the electrode plate to output a myoelectricity stimulation electric signal.
11. The electromyographic stimulation control system applied to a rehabilitation device of claim 10, wherein the sensor comprises but is not limited to an angle sensor, a pressure sensor, a moment sensor, an attitude sensor, an electromyographic sensor.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed, carries out the method steps of any one of claims 1 to 9.
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