CN116173406A - Rehabilitation training method and system for mixed brain-computer interface - Google Patents
Rehabilitation training method and system for mixed brain-computer interface Download PDFInfo
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Abstract
The invention discloses a rehabilitation training method of a mixed brain-computer interface, which is characterized by comprising the following steps: the electroencephalogram signal analysis unit is used for analyzing the acquired electroencephalogram signals to obtain an electric stimulation channel control signal; the plantar pressure signal analysis unit analyzes the acquired plantar pressure signal to obtain instant electric stimulation intensity, and outputs an instant electric stimulation intensity regulation signal according to the instant electric stimulation intensity; the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal and determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal; the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result. The invention uses the brain electric signal and the plantar pressure signal to jointly control the working state of the electric stimulator, and can promote the user to use the brain to try to control the injured spinal cord in rehabilitation, thereby restoring the functions of lower limbs.
Description
Technical Field
The invention relates to the field of rehabilitation after severe spinal cord injury of lower chest and waist, in particular to a rehabilitation training method and system of a hybrid brain-computer interface.
Background
After the user suffers from severe spinal cord injury of the lower chest and waist, spinal cord tissues below the injury plane lose communication with the brain, and dyskinesia and sensory dysfunction occur. Motor and sensory disturbance can greatly influence the walking ability of a user, serious people can lead the user to completely lose the walking ability, and the life of the user is greatly influenced by the life quality of the user and the activity ability of daily life by means of wheelchair life.
In order to solve the problem that the lower limbs of a user suffering from severe spinal cord injury do not have sensory and motor functions, the brain-computer interface rehabilitation research in the prior art mostly adopts a substitution mode. The complex brain electricity is classified by analyzing the brain electricity, and then different control signals are formed to command the exoskeleton robot or the functional electrical stimulation to assist the user to walk.
In the prior art, the 'substitution and deletion function' is mainly used, and the user is not emphasized to promote the damaged lower limb function through long-term active control and rehabilitation training. Although the treatment mode "restores" the missing function to a certain extent, the treatment mode still has certain plasticity after neglecting the nerve injury, and can improve the nerve function through long-term, repeated, high-strength and directional rehabilitation training.
Disclosure of Invention
In order to solve the problems in the prior art, a user can reasonably and effectively perform lower limb function rehabilitation training to try to promote the functions of the brain and the damaged spinal cord and promote the functional remodeling of the central nervous system, and the lower limb function of the user is fundamentally promoted, the invention provides a rehabilitation training method of a mixed brain-computer interface, which comprises the following steps:
the electroencephalogram signal acquisition device acquires electroencephalogram signals, the pressure sensor acquires plantar pressure signals, and the day rail weight reduction device acquires weight data and weight reduction data of a user;
the electroencephalogram signal analysis unit is used for analyzing the acquired electroencephalogram signals to obtain an electric stimulation channel control signal; the plantar pressure signal analysis unit analyzes the acquired plantar pressure signals, obtains actual load parameters according to the plantar pressure signals, calculates instant electric stimulation intensity according to the actual load parameters, weight data and weight reduction data of a user, and outputs instant electric stimulation intensity regulation signals according to the instant electric stimulation intensity;
the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal and determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal;
the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result.
Specifically, the instant electric stimulation intensity is calculated according to the actual load parameter, the weight data of the user and the weight reduction data, and the specific calculation mode is as follows:
immediate electrical stimulation intensity = set electrical stimulation intensity [ actual load parameter/(user weight data-user weight loss data) ];
wherein, the electric stimulation intensity is preset according to the condition of the user; the weight data of the user is obtained according to the measurement of the weight by the weight-reducing device of the head rail, and the weight-reducing data is obtained according to the setting of the weight-reducing device of the head rail.
Specifically, the electrical stimulation channel control signal determines whether the left channel and the right channel of the electrical stimulator are working, and the first output result comprises a left channel working, a left channel non-working, a right channel working and a right channel non-working;
the instant electric stimulation intensity regulating signal determines the output intensity of the electric stimulator, and the second output result comprises the left channel output intensity, the right channel output intensity and 0.
Specifically, when the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'left channel is not working' according to the obtained electric stimulator channel control signal, determining the second output result of the electric stimulator control unit to be 0 according to the obtained instant electric stimulator strength regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 'right channel output intensity' according to the obtained instant electric stimulator intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel is not working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal.
Specifically, the electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signal through a co-space model CSP algorithm to obtain the movement intention of a user, and finally obtains an electric stimulation channel control signal.
The invention also provides a rehabilitation training system of the mixed brain-computer interface, which comprises: the electroencephalogram signal acquisition device, the control system, the pressure sensor, the electric stimulator and the sky rail weight reduction device; the control system comprises an electroencephalogram signal analysis unit, a plantar pressure signal analysis unit and an electric stimulator control unit;
the electroencephalogram signal acquisition device acquires electroencephalogram signals, the pressure sensor acquires plantar pressure signals, and the heaven rail weight reduction device acquires weight data and weight reduction data of a user;
the electroencephalogram signal analysis unit is used for analyzing the acquired electroencephalogram signals to obtain an electric stimulation channel control signal; the plantar pressure signal analysis unit analyzes the acquired plantar pressure signals, obtains actual load parameters according to the plantar pressure signals, calculates instant electric stimulation intensity according to the actual load parameters, weight data and weight reduction data of a user, and outputs instant electric stimulation intensity regulation signals according to the instant electric stimulation intensity;
the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal and determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal;
the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result.
Specifically, the instant electric stimulation intensity is calculated according to the actual load parameter, the weight data of the user and the weight reduction data, and the specific calculation mode is as follows:
immediate electrical stimulation intensity = set electrical stimulation intensity [ actual load parameter/(user weight data-user weight loss data) ];
wherein, the electric stimulation intensity is preset according to the condition of the user; the weight data of the user is obtained according to the measurement of the weight by the weight-reducing device of the head rail, and the weight-reducing data is obtained according to the setting of the weight-reducing device of the head rail.
Specifically, the electrical stimulation channel control signal determines whether the left channel and the right channel of the electrical stimulator are working, and the first output result comprises a left channel working, a left channel non-working, a right channel working and a right channel non-working;
the instant electric stimulation intensity regulating signal determines the output intensity of the electric stimulator, and the second output result comprises the left channel output intensity, the right channel output intensity and 0.
Specifically, when the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'left channel is not working' according to the obtained electric stimulator channel control signal, determining the second output result of the electric stimulator control unit to be 0 according to the obtained instant electric stimulator strength regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 'right channel output intensity' according to the obtained instant electric stimulator intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel is not working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal.
Specifically, the electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signal through a co-space model CSP algorithm to obtain the movement intention of a user, and finally obtains an electric stimulation channel control signal.
Compared with the prior art, the invention takes the noninvasive brain-computer interface technology as the core, integrates the functional electrical stimulation, plantar pressure detection analysis and the heaviest rail weight reduction walking training, adopts the noninvasive brain-computer interface with strong anti-interference performance and convenient carrying as the nerve interface equipment, uses the simple CSP to divide (i.e. imagine left and right) to determine the working state of the functional electrical stimulation, organically combines the wireless brain-computer interface, the functional electrical stimulation, the plantar pressure detection, the heaviest rail weight reduction device and the rehabilitation common auxiliary tools (knee ankle foot orthosis and walker), and assists the rehabilitation training of the severely lower chest segment and the lumbar spinal cord injury user to basically carry out the rehabilitation training of the injured nerve function through the systematic rehabilitation training program, but does not use the external equipment to replace the lost limb function, and excites the subjective willingness of the user to remodel the nerve function.
Meanwhile, the invention uses the brain electric signal and the plantar pressure signal to jointly control the working state of the electric stimulator, can promote a user to use the brain to try to control the injured spinal cord in rehabilitation, and further recover the functions of lower limbs, but does not simply rely on compensation of a weight reduction system, an orthosis and a walking aid to perform the rehabilitation training which is 'seemingly active and is indeed passive', and truly realizes the 'active rehabilitation training with feedback and subjective willingness'.
Drawings
FIG. 1 is a schematic diagram of a rehabilitation training system of a hybrid brain-computer interface according to the present invention;
FIG. 2 is a schematic diagram of an application scenario of a rehabilitation training system with a hybrid brain-computer interface according to the present invention;
FIG. 3 is a flow chart of a method of rehabilitation training for a hybrid brain-computer interface according to the present invention;
fig. 4 is a schematic diagram of a walking training flow of a step under the functional electrical stimulation logic controlled by the brain-computer interface of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The severe spinal cord injury users with lower chest and waist injuries have the following injury characteristics:
(1) Standing stable muscle group: lower lumbar and abdominal muscles, bilateral quadriceps, gluteus medius and gluteus maximus are generally severely damaged.
(2) Muscle governing "step: the ilium and biceps femoris are reserved in functional parts. However, the quadriceps femoris muscle with the function of hip flexion and step-taking is seriously damaged.
Aiming at a user with severe spinal cord injury caused by injury of lower chest and waist, the invention provides a rehabilitation training system of a hybrid brain-computer interface, and fig. 1 is a schematic structural diagram of the rehabilitation training system of the hybrid brain-computer interface, comprising: the brain electrical signal acquisition device, the control system, the pressure sensor, the electric stimulator and the head rail weight reduction device. The control system comprises an electroencephalogram signal analysis unit, a plantar pressure signal analysis unit and an electric stimulator control unit.
Next, we will describe each component of a rehabilitation training system of a hybrid brain-computer interface one by one.
Brain signal acquisition device: in the invention, the electroencephalogram signal acquisition device is a noninvasive brain-computer interface based on electroencephalogram, scalp electrodes are used, and the electroencephalogram signals can be acquired through conductive gel or conductive medium and transmitted to the control system, and the control system detects and analyzes the acquired electroencephalogram signals. By different electroencephalogram analysis methods, electroencephalogram signals can be classified, and the movement intention of a user can be judged, so that the purpose of controlling external equipment by using motor imagery is achieved.
A pressure sensor: the pressure sensor is arranged on the sole of the user in the form of an insole and senses the pressure change of the sole of the user. By analyzing the physiological parameters of the user, the weight-bearing and gravity center change condition of the two lower limbs of the user is determined, and the stimulation intensity of the functional electrical stimulation is adjusted in a feedback mode. I.e. the more relative inputs the bilateral plantar pressure sensors are, the stronger the electrical stimulation of the corresponding lateral lower limb.
An electric stimulator: the electric stimulation belongs to the category of nerve muscle electric stimulation, and the electric stimulator utilizes low-frequency pulse current with certain intensity to stimulate one or more groups of muscles through a preset program to induce muscle movement or simulate normal autonomous movement so as to achieve the aim of improving or recovering the function of stimulated muscles or muscle groups.
The electric stimulator used in the invention is a 6-channel wireless functional electric stimulator, and the electric stimulator control system is in wireless connection for communication. The 6 channels correspond to the bilateral gluteus maximus, gluteus medius and quadriceps femoris, respectively.
And (3) a control system: the control system is composed of a computer and a wireless router connected with the computer. The control system is connected with the electroencephalogram signal acquisition device, the pressure sensor and the electric stimulator through the wireless router. The control system needs to analyze the collected brain electrical signals and judge the movement intention of the user; meanwhile, the control system also needs to determine the working state of the electric stimulator according to the input signals of the plantar pressure sensor of the electric stimulator and the weight reduction data of the top rail weight reduction system in an actual application scene.
The control system comprises a plantar pressure signal analysis unit, an electroencephalogram signal analysis unit and an electric stimulator control unit.
And the electroencephalogram signal analysis unit is used for receiving the acquired electroencephalogram signals and analyzing the electroencephalogram signals.
And the plantar pressure signal analysis unit is used for receiving the acquired plantar pressure signals and analyzing the plantar pressure signals.
The weight-reducing device of the head rail can obtain weight data and weight-reducing data of a user. The weight data is the weight of the user. The weight-loss data is the weight of the weight-loss device of the head rail for the weight of the user. The set electric stimulation intensity is preset according to the personal situation of the user and is set in the plantar pressure signal analysis unit. The weight-reducing walking training of the top rail is to make the user safely execute walking-related rehabilitation training such as standing, gravity center shifting, stepping and the like under the condition of reducing the weight of the user by means of a walking aid and an orthosis or without the help of the walking aid and the orthosis by means of the rail and the weight-reducing device fixed on the ceiling. In the invention, the overhead rail weight-reducing device supports the trunk of a user through the hanging strip.
The electric stimulator control unit determines the working state of the electric stimulator according to the acquired brain electrical signals and plantar pressure signals.
In the invention, the rehabilitation training system also comprises a lower limb stabilizing device, wherein the knee joint and the ankle joint are stabilized through the knee ankle foot orthosis, and the rehabilitation training system assists a user to stand. A pressure sensor integrated with a functional electric stimulator is installed on the sole of the user's two sides.
Fig. 2 is a schematic diagram of an application scenario of a rehabilitation training system with a hybrid brain-computer interface according to the present invention. In the invention, the rehabilitation training system also comprises a walking aid, and the user is assisted to walk by selecting the universal type height-adjustable walking aid.
The user maintains torso stability using the overhead rail weight loss training system, stabilizes the legs using a Knee Ankle Foot Orthosis (KAFO), while maintaining functional standing with the upper leg support walker. In addition, the wireless brain-computer interface is used for detecting the tested brain-computer signal, the movement intention is analyzed through the control system, then the functional electric stimulation is controlled through the wireless connection, and the gluteus maximus, the gluteus medius and the quadriceps of the user with severe spinal cord injury are stimulated in a certain sequence, so that the aim of realizing rehabilitation training projects related to walking functions is fulfilled.
The weight-loss data of the track-loss device starts from 70% of the weight of the user and gradually decreases with the progress of rehabilitation training of the user. During this time, the user needs to perform various rehabilitation training subjects using brain-computer interfaces and functional electrical stimulation with support of the walker and knee-ankle-foot orthosis.
Aiming at the severe spinal cord injury user with lower chest and waist injury, the invention also provides a rehabilitation training method of the hybrid brain-computer interface, as shown in figure 3, comprising the following steps:
step 1: the electroencephalogram signal is acquired through the electroencephalogram signal acquisition device, the plantar pressure signal is acquired through the pressure sensor, and the weight data and the weight reduction data of the user are obtained through the heaven rail weight reduction device. The user weight data is the weight of the user. The weight-loss data is the weight of the weight-loss device of the head rail for the weight of the user. The weight-reducing walking training of the top rail is to rely on a rail and a weight-reducing device which are fixed on a ceiling, and the weight data and the weight-reducing data of a user can be obtained through the top rail weight-reducing device.
In the invention, the electroencephalogram signal is acquired in a noninvasive mode through the electroencephalogram signal acquisition device. The electroencephalogram signal acquisition device is a 32-lead electroencephalogram cap, contacts with the scalp by using a gel electrode, and transmits the electroencephalogram signal to the wireless transmitter.
The plantar pressure signal is collected by pressure sensors under the feet, and in the invention, the pressure sensors are insole type plantar pressure sensors. The plantar pressure signals acquired by the insole plantar pressure sensors are sent to a plantar pressure signal analysis unit of the control system.
In the invention, the acquisition of brain electrical signals and plantar pressure signals and the acquisition of weight data and weight loss data are all carried out in real time, and no sequence is adopted.
Step 2: the electroencephalogram signal analysis unit is used for analyzing the acquired electroencephalogram signals to obtain an electric stimulation channel control signal; the plantar pressure signal analysis unit analyzes the acquired plantar pressure signals, obtains actual load parameters according to the plantar pressure signals, calculates and obtains instant electric stimulation intensity according to the actual load parameters, weight data and weight reduction data of a user, and outputs instant electric stimulation intensity regulation signals according to the instant electric stimulation intensity. In the invention, an electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signal through a co-space mode (Common Spatial Pattern, CSP) algorithm to obtain the movement intention of the left upper limb or the right lower limb of a user, and finally an electric stimulation channel control signal is obtained.
In the present invention, immediate electrical stimulation intensity = set electrical stimulation intensity [ actual load parameter/(user weight data-user weight loss data) ].
Wherein, the electric stimulation intensity is set according to the personal condition of the user. The weight data of the user is obtained according to weight measurement, the weight data of the user is obtained according to the weight-reducing device of the head rail, and the weight data of the user and the weight-reducing data of the user are input into the plantar pressure signal analysis unit.
The brain electrical signal is transmitted to the control system through the wireless transmitter, and the brain electrical signal analysis unit analyzes the collected brain electrical signal under the 'motor imagery'. The electroencephalogram signal analysis unit extracts each type of spatial distribution component from the multichannel brain-computer interface data by using a co-space mode (Common Spatial Pattern, CSP) algorithm. In the present invention, two classification tasks are used that imagine a "left leg" and a "right leg". Even if the user tries to imagine the movement of the left leg, the electroencephalogram signal analysis unit may output a signal of "left leg movement" to other programs in the control system, and the user tries to imagine the movement of the right leg, the electroencephalogram signal analysis unit may output a signal of "right leg movement" to other programs in the control system.
In the invention, the analysis of the brain electrical signals and the plantar pressure signals is carried out in real time, and no distinction is made.
Step 3: the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal; the electric stimulator control unit determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal.
In the invention, the electric stimulation channel control signal and the instant electric stimulation intensity regulation signal are transmitted to the electric stimulator control unit, and the electric stimulator control unit jointly determines the working state of the electric stimulator according to the electric stimulation channel control signal and the instant electric stimulation intensity regulation signal.
The first output result of the control unit of the electric stimulator comprises 'left channel working', 'left channel non-working', 'right channel non-working'.
The instant electric stimulation intensity regulating signal determines the output intensity of the electric stimulator, and the second output result of the electric stimulator control unit in the invention comprises the left channel output intensity, the right channel output intensity and 0.
The left channel output intensity is between 0 and the maximum output intensity of the left channel.
The right channel output intensity is between 0 and the maximum output intensity of the right channel.
Step 4: the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result.
In the invention, if the first output result is determined to be "left channel working" according to the obtained electric stimulation channel control signal, then the second output result of the electric stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electric stimulation intensity regulation signal, and then the working state of the electric stimulator is "left channel working in working state".
If the first output result of the electric stimulator control unit is determined to be 'left channel is not working' according to the obtained electric stimulator channel control signal, then the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal, and the working state of the electric stimulator is determined to be 'non-working'.
If the first output result of the electric stimulator control unit is determined to be 'right channel working' according to the obtained electric stimulator channel control signal, then the second output result of the electric stimulator control unit is determined to be 'right channel output intensity' according to the obtained instant electric stimulator intensity regulation signal, and the working state of the electric stimulator is that 'right channel working is in working state'.
If the first output result of the electric stimulator control unit is determined to be 'right channel is not working' according to the obtained electric stimulator channel control signal, then the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal, and the working state of the electric stimulator is determined to be 'non-working'.
The present invention will be further described with reference to the "left leg load". The user imagines that the left leg is stressed, the electroencephalogram signal acquisition device acquires corresponding electroencephalogram signals and sends the corresponding electroencephalogram signals to the electroencephalogram signal analysis unit, and the electroencephalogram signal analysis unit outputs a left leg movement signal to the control unit of the electric stimulator through analysis. At this time, the electric stimulator control unit issues an instruction of "left channel operation", which in the present invention is "left side can be stimulated".
The plantar pressure signal analysis unit judges the load condition of a user according to the plantar pressure, and the larger the load of the user is, the more the output of the pressure sensor is, the larger the output intensity of the electric stimulator control unit is. Namely: the electroencephalogram signal firstly determines whether the electric stimulator outputs or not, and then the plantar pressure determines the output size of the electric stimulator. If the user simply tilts the center of gravity to the left in a "compensatory" manner, increasing plantar pressure, without "imagining left lower limb effort", the electrostimulator does not actually stimulate the user's left leg, as per the above procedure. On the other hand, if the user simply "imagines left leg effort", but does not tilt the center of gravity to the left, the electrostimulator will only stimulate the left leg with reference to the current plantar pressure intensity.
The invention is further illustrated by the following examples.
(1) "two-leg standing" and "center of gravity transfer":
when the user performs the tasks of standing on two legs and transferring the center of gravity, the user needs to land on two feet, and the gluteus maximus, the gluteus medius and the quadriceps femoris exert force together to keep the body stable.
Imagine that the legs stand upright with force, and the electric stimulation channel is activated. The electrical stimulation channel control is divided into left and right sides including gluteus maximus, gluteus medius and quadriceps. And judging the loading state of the legs of the user according to the weight data, the weight reduction data and the plantar pressure signals of the pressure sensor of the user, so as to obtain the instant electric stimulation intensity. On the premise of accurately performing motor imagery, the muscle groups on two sides are electrically stimulated with different intensities according to different load states, and the more the load is, the stronger the electrical stimulation is.
Under the control of the logic, when a user performs a standing rehabilitation training task, if the load of the two legs is equal, the electric stimulation intensity of the two legs is equal; and when the gravity center is deviated from the left leg, the electric stimulation intensity of the left channel is increased, so that the standing stability of the left lower limb is ensured.
(2) Walking training of taking a step
The walking step can be simplified into a periodic movement of standing with two legs, loading left legs, taking steps with right legs, loading right legs, taking steps with left legs and loading left legs. Fig. 4 is a schematic diagram of a walking training flow of a step under the functional electrical stimulation logic controlled by the brain-computer interface of the present invention. When walking, a lower limb is required to stand for a period of time, and at the same time, the other lower limb takes a step forward. Therefore, the electrical stimulation logic for walking and the logic for standing training are somewhat different. Taking a left leg support and a right leg stepping as an example:
a. imagine that the two legs are forced to stand straight, the two side pressure sensors output, and the channel works completely.
b. Imagine that the left leg is forced, the body center of gravity is far to the left, the output of the left plantar pressure sensor is increased, the left leg channel of the electric stimulator works completely, and the right channel gradually stimulates and reduces until stopping.
c. The left plantar pressure sensor maintains the output state. After the stimulation intensity of the functional electric stimulation left channel reaches the peak value, the functional electric stimulation left channel is maintained for a certain time at maximum. In a certain period of time for maintaining the stimulation, the user needs to imagine the movement of the right lower limb, activate the right quadriceps femoris channel of the electric stimulator, stimulate quadriceps femoris and form a walking action. In the present invention, the "certain time" is 30 to 60 seconds.
d. After the right leg is taken out, the heel is grounded, the gravity center of the body of the user is transferred to the right side, so that the input of the left plantar pressure sensor starts to be increased, and the right leg force is continuously imagined. The right side channels of the functional electric stimulator are all opened to stimulate the right leg to assist the right leg to stand, and the left side functional electric stimulation channels are closed.
e. And after the stimulation intensity of the right channel of the functional electric stimulator reaches a peak value, the right channel is maintained for a certain time at maximum. In a certain period of time for maintaining the stimulation, the user needs to imagine the left lower limb movement, activate the right quadriceps femoris channel of the functional electric stimulator, stimulate quadriceps femoris and form a walking action. In the present invention, the "certain time" is 30 to 60 seconds.
f. The above process is repeated to form the walking training.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of one of ordinary skill in the art.
Claims (10)
1. A rehabilitation training method of a hybrid brain-computer interface, comprising:
the electroencephalogram signal acquisition device acquires electroencephalogram signals, the pressure sensor acquires plantar pressure signals, and the day rail weight reduction device acquires weight data and weight reduction data of a user;
the electroencephalogram signal analysis unit is used for analyzing the acquired electroencephalogram signals to obtain an electric stimulation channel control signal; the plantar pressure signal analysis unit analyzes the acquired plantar pressure signals, obtains actual load parameters according to the plantar pressure signals, calculates instant electric stimulation intensity according to the actual load parameters, weight data and weight reduction data of a user, and outputs instant electric stimulation intensity regulation signals according to the instant electric stimulation intensity;
the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal and determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal;
the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result.
2. The method according to claim 1, characterized in that: the instant electric stimulation intensity is calculated according to the actual load parameters, the weight data of the user and the weight reduction data, and the specific calculation mode is as follows:
immediate electrical stimulation intensity = set electrical stimulation intensity [ actual load parameter/(user weight data-user weight loss data) ];
wherein, the electric stimulation intensity is preset according to the condition of the user; the weight data of the user is obtained according to the measurement of the weight by the weight-reducing device of the head rail, and the weight-reducing data is obtained according to the setting of the weight-reducing device of the head rail.
3. The method according to claim 1, characterized in that: the electric stimulation channel control signal determines whether left and right channels of the electric stimulator are operated or not, and the first output result comprises a left channel operation, a left channel non-operation, a right channel operation and a right channel non-operation;
the instant electric stimulation intensity regulating signal determines the output intensity of the electric stimulator, and the second output result comprises the left channel output intensity, the right channel output intensity and 0.
4. A method according to claim 3, characterized in that:
when the first output result is determined to be 'left channel working' according to the obtained electric stimulation channel control signal, the second output result of the electric stimulator control unit is determined to be 'left channel output intensity' according to the obtained instant electric stimulation intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'left channel is not working' according to the obtained electric stimulator channel control signal, determining the second output result of the electric stimulator control unit to be 0 according to the obtained instant electric stimulator strength regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 'right channel output intensity' according to the obtained instant electric stimulator intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel is not working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal.
5. The method according to claim 1, characterized in that: the electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signals through a co-space mode CSP algorithm to obtain the movement intention of a user, and finally, the electric stimulation channel control signals are obtained.
6. A rehabilitation training system of a hybrid brain-computer interface, comprising: the electroencephalogram signal acquisition device, the control system, the pressure sensor, the electric stimulator and the sky rail weight reduction device; the control system comprises an electroencephalogram signal analysis unit, a plantar pressure signal analysis unit and an electric stimulator control unit;
the electroencephalogram signal acquisition device is used for acquiring electroencephalogram signals;
the pressure sensor is used for collecting plantar pressure signals;
the overhead rail weight-reducing device is used for obtaining weight data and weight-reducing data of a user;
the electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signals to obtain an electric stimulation channel control signal;
the plantar pressure signal analysis unit analyzes the acquired plantar pressure signal, obtains an actual loading parameter according to the plantar pressure signal, calculates to obtain instant electric stimulation intensity according to the actual loading parameter, weight data and weight reduction data of a user, and outputs an instant electric stimulation intensity regulation signal according to the instant electric stimulation intensity;
the electric stimulator control unit determines a first output result of the electric stimulator control unit according to the electric stimulation channel control signal and determines a second output result of the electric stimulator control unit according to the instant electric stimulation intensity regulation signal;
and the electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result.
7. The system according to claim 6, wherein: the instant electric stimulation intensity is calculated according to the actual load parameters, the weight data of the user and the weight reduction data, and the specific calculation mode is as follows:
immediate electrical stimulation intensity = set electrical stimulation intensity [ actual load parameter/(user weight data-user weight loss data) ];
wherein, the electric stimulation intensity is preset according to the condition of the user; the weight data of the user is obtained according to the measurement of the weight by the weight-reducing device of the head rail, and the weight-reducing data is obtained according to the setting of the weight-reducing device of the head rail.
8. The system according to claim 6, wherein: the electric stimulation channel control signal determines whether left and right channels of the electric stimulator are operated or not, and the first output result comprises a left channel operation, a left channel non-operation, a right channel operation and a right channel non-operation;
the instant electric stimulation intensity regulating signal determines the output intensity of the electric stimulator, and the second output result comprises the left channel output intensity, the right channel output intensity and 0.
9. The system according to claim 8, wherein:
when the first output result is determined to be 'left channel working' according to the obtained electric stimulation channel control signal, the second output result of the electric stimulator control unit is determined to be 'left channel output intensity' according to the obtained instant electric stimulation intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'left channel is not working' according to the obtained electric stimulator channel control signal, determining the second output result of the electric stimulator control unit to be 0 according to the obtained instant electric stimulator strength regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 'right channel output intensity' according to the obtained instant electric stimulator intensity regulation signal;
when the first output result of the electric stimulator control unit is determined to be 'right channel is not working' according to the obtained electric stimulator channel control signal, the second output result of the electric stimulator control unit is determined to be 0 according to the obtained instant electric stimulator strength regulation signal.
10. The system according to claim 6, wherein: the electroencephalogram signal analysis unit analyzes the acquired electroencephalogram signals through a co-space mode CSP algorithm to obtain the movement intention of a user, and finally, the electric stimulation channel control signals are obtained.
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