CN117101082A

CN117101082A - Motion guiding device

Info

Publication number: CN117101082A
Application number: CN202310583920.XA
Authority: CN
Inventors: 谢雪榕; 刘本科; 王芗斌; 姚如捷
Original assignee: Third People's Hospital Affiliated To Fujian University Of Traditional Chinese Medicine Fujian Third People's Hospital; Fujian University of Traditional Chinese Medicine
Current assignee: Third People's Hospital Affiliated To Fujian University Of Traditional Chinese Medicine Fujian Third People's Hospital; Fujian University of Traditional Chinese Medicine
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2023-11-24

Abstract

A motion-guiding device, comprising: the motion data acquisition module, the motion data acquisition module includes: the inertial sensor is used for acquiring the joint space position; the force table is used for acquiring stress information of the joint; the surface electromyographic signal sensor is used for acquiring the electrical signal data of the muscle corresponding to the joint; the exercise data processing module is in data connection with the exercise data acquisition module and comprises an electrode plate, and the electrode plate is used for outputting stimulation current according to the activation degree or the fatigue degree of different muscles. According to the technical scheme, the motion data acquisition module is used for acquiring motion related data, calculating the activation degree or the fatigue degree of the muscle, and then adjusting the output current of the electrode plate according to the activation degree or the fatigue degree, so that the technical effect of automatically guiding the motion state of the user can be achieved.

Description

Motion guiding device

Technical Field

The application relates to the field of character movement guidance, in particular to a device capable of collecting data and adjusting muscle electric stimulation output in real time for guiding.

Background

Knee osteoarthritis (kneeoar) has become an important contributor to mobility impairment in the middle-aged and elderly people due to knee joint pain. It is counted that 15% of the middle aged and elderly people suffer from kneeOA. The occurrence and development of KneeOA are related to the decrease in muscle strength and the uncoordinated activation of lower limb muscles during exercise, and the symptoms of KneeOA are mainly represented by quadriceps femoris, gluteus medius weakness, and excessive activation of triceps calf, popliteal cord muscle and tensor fascia lata. The KneeOA not only can cause pain of knee joints, but also can cause increased risk of cardiovascular diseases due to the reasons of reduced daily activity, low-grade inflammation and the like. However, the current treatment regimen for kneeOA joint pain and uncoordinated muscle activation remains one of the clinical difficulties.

The clinical practice guidelines for arthritis use aerobic exercise as an important exercise therapy for alleviating joint pain and improving body function. Walking and running on level ground are the most common aerobic exercise program for kneeOA patients, but the effect on kneeOA is controversial because of uncoordinated activation of lower limb muscles and fatigue aggravate knee joint pain during exercise. Exercise therapy for kneeOA patients is aerobic exercise combined with relaxation of the overstressed lower limb muscle groups, and muscle strength training of the muscle groups with reduced muscle strength. The home self-rehabilitation is a development trend of rehabilitation, and how to avoid sports injury and perform scientific rehabilitation training for a kneeOA patient at home is an urgent problem to be solved.

Disclosure of Invention

For this reason, it is necessary to provide a sports rehabilitation guidance lifting device capable of guiding the science of the kneeOA user. The problem that the user is easy to generate sports injury in the sports process is solved.

To achieve the above object, the present inventors provide a motion guide device comprising: the motion data acquisition module, the motion data acquisition module includes: the inertial sensor is used for acquiring the joint space position; the force table is used for acquiring stress information of the joint; the surface electromyographic signal sensor is used for acquiring the electrical signal data of the muscle corresponding to the joint; the motion data processing module is in data connection with the motion data acquisition module and is used for calculating joint angles according to joint space position information, calculating loads on the inner side and the outer side and the front side of the joint according to stress information of the joint and calculating activation or fatigue of different muscles according to electric signal data of muscles corresponding to the joint; and the feedback module comprises an electrode slice, and the electrode slice is used for outputting the stimulating current according to the activation or fatigue degree of different muscles.

In an embodiment of the present application, the motion data processing module is further configured to generate a real-time state model of the joint according to the joint spatial position information, and further includes: and the display device is used for displaying the real-time state model of the joint.

In an embodiment of the application, the display device is further used for indicating the activation or fatigue of the corresponding muscle group in the real-time state model of the joint.

In an embodiment of the present application, the display device is a VR display device.

In an embodiment of the present application, the VR display is further configured to display a real-time status model and a background of the virtual character.

In an embodiment of the present application, the VR display is further configured to enter different motion guidance modes according to the activation or fatigue of different muscles, and play moving pictures of different real-time status models of the person in the different motion guidance modes.

In one embodiment of the present application, the force table is disposed on a treadmill for changing the output power according to the activation or fatigue of different muscles.

In one embodiment of the present application, the joint is a knee joint and the electrode sheet is applied to one or more of gluteus maximus, gluteus medius, quadriceps femoris, gastrocnemius and tensor fascia lata.

In an embodiment of the present application, the surface electromyographic signal sensor is disposed at one or more of gluteus maximus, gluteus medius, quadriceps, gastrocnemius and tensor fascia lata, and the inertial sensor is disposed at one or more of the center of pelvis, anterior thigh on both sides, anterior calf side and instep.

In an embodiment of the present application, the outputting the stimulation current according to the activation or fatigue of different muscles specifically includes: when the activation degree of all detected muscle groups does not exceed a first threshold value, outputting stimulation current by all electrode plates; outputting a suppression current when all detected muscle group activation activities exceed a second threshold; when the activation degree of all the detected muscle groups is larger than the first threshold value and smaller than the second threshold value, the suppression current is output to the muscle groups with the fatigue degree exceeding the third threshold value.

Compared with the prior art, the technical scheme has the advantages that the motion data acquisition module is used for acquiring motion related data, calculating the activation degree or the fatigue degree of the muscle, and then adjusting the output current of the electrode plate according to the activation degree or the fatigue degree, so that the technical effect of automatically guiding the motion state of a user can be achieved.

The foregoing summary is merely an overview of the present application, and may be implemented according to the text and the accompanying drawings in order to make it clear to a person skilled in the art that the present application may be implemented, and in order to make the above-mentioned objects and other objects, features and advantages of the present application more easily understood, the following description will be given with reference to the specific embodiments and the accompanying drawings of the present application.

Drawings

The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of the present application and are not to be construed as limiting the application.

In the drawings of the specification:

FIG. 1 is a motion guide device according to an embodiment of the present application;

FIG. 2 is a view showing a state of use according to an embodiment of the present application;

fig. 3 is a schematic diagram of an inertial sensor and a surface electromyographic signal sensor according to an embodiment of the application.

Fig. 4 is a schematic diagram of a VR display device according to an embodiment of the present application;

fig. 5 is a schematic view of a wireless silica gel electrode sheet according to an embodiment of the present application.

Reference numerals illustrate:

1. the electrode sheet is provided with a plurality of electrodes,

2. the force platform is provided with a plurality of force platforms,

3. an inertial sensor is provided for sensing the position of the object,

4. a surface electromyographic signal sensor,

5. the running machine is provided with a running machine,

6. VR display device.

Detailed Description

In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only for more clearly illustrating the technical aspects of the present application, and thus are only exemplary and not intended to limit the scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment may be combined in any manner to form a corresponding implementable technical solution.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the purpose of describing particular embodiments only and is not intended to limit the application.

In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that three relationships may exist, for example a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.

In the present application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.

Without further limitation, the use of the terms "comprising," "including," "having," or other like terms in this specification is intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.

As in the understanding of "review guidelines," the expressions "greater than", "less than", "exceeding" and the like are understood to exclude this number in the present application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of" and the like, unless specifically defined otherwise.

In the description of embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as a basis for the description of the embodiments or as a basis for the description of the embodiments, and are not intended to indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation and therefore should not be construed as limiting the embodiments of the present application.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "affixed," "disposed," and the like as used in the description of embodiments of the application should be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meaning of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to circumstances.

Referring to fig. 1, a motion guiding device according to the present embodiment includes: a motion data acquisition module 10, the motion data acquisition module comprising: an inertial sensor 3 for acquiring a joint space position; the force table 2 is used for acquiring stress information of the joint; the surface electromyographic signal sensor 4 is used for acquiring the electrical signal data of the muscle corresponding to the joint; the motion data processing module 20 is in data connection with the motion data acquisition module, and is used for calculating joint angles according to joint space position information, calculating loads on the inner side and the outer side of the joint and the front side of the joint according to stress information of the joint, and calculating activation or fatigue of different muscles according to electric signal data of muscles corresponding to the joint; the feedback module comprises an electrode slice 1, wherein the electrode slice 1 is used for outputting stimulation current according to the activation degree or the fatigue degree of different muscles.

The joints can be any movable joints of a human body, the inertial sensors can be arranged on limbs on two sides of the joints, the inertial sensors can acquire information including positions, postures, accelerations and the like, and the inertial sensors can acquire corresponding states of the corresponding limbs, so that the joint angles are calculated. Specifically, the lower limb joint angle can be calculated by matrix conversion, quaternion extraction, and euler angle sequence, and reference Three dimensionalgaitanalysisusingwearableaccelerationandgyrosensorsbased onquaternioncalculations can be made. The force table can be used for collecting limb acting force related to the joint, and according to Newton's third law, the force of the limb acting on the force table is approximate to the stress information of the joint. The force table reaction force is calculated on the basis of the joint angle and inverse dynamics, and the specific content can be referred to as a kinetishentkinematics, kinetishendsandmusleco-contractioninknee osteoarthritispatientgait. The magnitude of muscle activation and the degree of fatigue are calculated by filtering the received electromyographic signal, linear envelope, calculating root mean square value and fourier transform, and reference may be made specifically to posturalbalacinndividali withkneosteoarthritis duringstand-to-SitTask. The motion data processing module can be a micro-processing unit such as a PCB or MCU which can meet certain calculation tasks. In a further embodiment, the fatigue is adjusted according to the loads of the inner side, the outer side and the front side of the joint, and when the load on one side exceeds a preset value and lasts for more than a preset period of time, the fatigue value of the muscle group on the corresponding side is improved. The electrode plate can be an adhesive silica gel electrode plate, the electrode plate is connected with a discharging device, and the discharging device can be in control connection with a main control module (such as a CPU and the like, which are not shown in the figure). The main control module controls the discharging device to generate stimulating current or suppressing current according to the control logic. Through the setting, feedback can be timely made according to the motion state of the joint, so that a user is guided to adjust the muscle motion state, and the user can exercise and recover conveniently.

In some further embodiments, the motion data processing module is further configured to generate a real-time state model of the joint according to the joint spatial position information, and further includes: and the display device is used for displaying the real-time state model of the joint. Wherein the real-time state model of the joint may be a virtual animation or picture. The real-time state information such as limb position, joint opening angle, knee joint inner and outer side load and front side load can be displayed. The display device may be a display screen, projector, VR display device, or the like. The real-time state model of the joint can be forwarded to the display device through the main control module, so that a user can watch the real-time state model, and the user can know the motion condition of the user better, correct bad postures and accelerate rehabilitation efficiency.

In other embodiments, the display device is further configured to indicate the degree of activation or fatigue of the corresponding muscle group in the real-time state model of the joint. The real-time state model of the joint is also displayed to comprise a muscle (group) model corresponding to the joint, the related activation degree and fatigue degree are obtained through the scheme, and the activation degree and fatigue degree of the corresponding muscle are displayed beside when the real-time state model of the joint is displayed by the display device, so that a user can better know the motion condition of the user, correct bad postures and accelerate recovery efficiency.

In an embodiment of the present application, the VR display is further configured to display a real-time status model and a background of the virtual character. The real-time state model of the virtual character displays and simulates the motion state of the whole human body, and the background comprises forests, seaside beach sand cities. When the user selects the panoramic mode, the main control module can render and generate a real-time state model of the virtual character and display the background pattern. The scheme can be combined with visual input to relax the user, the user can concentrate more by fusing multi-sense output, and the activation and rehabilitation of the relevant muscles of the joints of the user can be better enhanced.

In an embodiment of the present application, the VR display is further configured to enter different motion guidance modes according to the activation or fatigue of different muscles, and play moving pictures of different real-time status models of the person in the different motion guidance modes. In some specific embodiments, the master control module also automatically enters different modes according to the activation and fatigue conditions. Such as a motor guiding mode, which is classified into a comfortable type (for warm-up and relaxation), a dynamic type (jogging) and an explosion type (high-intensity jogging). When the detected muscle group is in an unactivated state, the user directly enters a relaxation mode, and enters an explosion mode after a period of time, so that the muscle group can be effectively activated, and the user can perform rehabilitation training autonomously.

In the example shown in fig. 2, which shows a schematic view of the use state of the device, the force table 2 is arranged on a running machine 5, which is used for changing the output power according to the activation or fatigue of different muscles. Specifically, the main control module also automatically enters different modes according to the conditions of the activation degree and the fatigue degree, and under the different modes, the main control module also controls the output power of the crawler device of the running machine to adjust, provides different speeds, can cooperate with multiple sense modes to conduct movement guidance, and is beneficial to the autonomous rehabilitation training of a user.

In one embodiment of the present application, the joint is a knee joint and the electrode sheet is applied to one or more of gluteus maximus, gluteus medius, quadriceps femoris, gastrocnemius and tensor fascia lata. Can effectively help knee joint to carry out rehabilitation through above-mentioned setting, can stimulate or restrain simultaneously to gluteus maximus, gluteus medius, quadriceps, gastrocnemius and fascia lata tensor, can promote the fineness of motion guide.

In an embodiment of the present application, the surface electromyographic signal sensor is disposed at one or more of gluteus maximus, gluteus medius, quadriceps, gastrocnemius and tensor fascia lata, and the inertial sensor is disposed at one or more of the center of pelvis, anterior thigh on both sides, anterior calf side and instep. The setting can carry out myoelectricity response to gluteus maximus, gluteus medius, quadriceps femoris, gastrocnemius and fascia lata tensor respectively, so that data input is more perfect, and the fine degree of motion guidance can be improved.

In an embodiment of the present application, the outputting the stimulation current according to the activation or fatigue of different muscles specifically includes: when the activation degree of all detected muscle groups does not exceed a first threshold value, outputting stimulation current by all electrode plates; outputting a suppression current when all detected muscle group activation activities exceed a second threshold; when the activation degree of all the detected muscle groups is larger than the first threshold value and smaller than the second threshold value, the suppression current is output to the muscle groups with the fatigue degree exceeding the third threshold value. By the scheme, the motion state of the muscle group can be guided and adjusted according to the indexes of the real-time activation and fatigue degree of the detected muscle group, and the motion injury can be prevented.

In some comprehensive embodiments of the present application, the data acquisition module acquires exercise data in real time, and after the user completes the operation of the main control board, the data acquisition module starts working by using inertial sensors (attached to pelvis, bilateral thigh, bilateral calf and bilateral foot), force tables and wireless surface electromyographic signal sensors (attached to bilateral gluteus maximus, gluteus medius, tensor fascia lata, rectus femoris, medial thigh, lateral thigh and gastrocnemius), and is used for acquiring real-time exercise data of the user during exercise; the motion data includes an X-axis (representing flexion and extension of the joint), a Y-axis (representing varus and valgus of the joint), ground return force, and electrical muscle signals. The inertial sensor and the surface electromyographic signal sensor can be integrally arranged or can be separately arranged, and the integrally arranged inertial sensor and surface electromyographic signal sensor can be shown in fig. 3.

The data processing module processes the motion data in real time, and after the data acquisition module completes the real-time motion data acquisition, the data processing module processes the motion data, the processing flow is that the acceleration value of the motion data is used for calculating the angle of a lower limb joint through matrix conversion and Euler angle sequence, the ground return force is used for calculating the load of the inner side and the outer side of the knee joint and the lower patella based on the joint angle and inverse dynamics, and the electromyographic signal is used for calculating the muscle activation amplitude and the fatigue degree through filtering, enveloping, root mean square value and Fourier transformation. Then, a three-dimensional motion model is constructed through the real-time joint angle of the lower limb, the knee joint load, the activation amplitude and the fatigue degree of the lower limb muscles, and the stimulation parameters are calculated through the activation amplitude and the activation time sequence of the lower limb muscles.

In the embodiment shown in fig. 4, a specific style of the VR display device is also shown, the VR headset plays video and audio in real time, the real-time three-dimensional motion model constructed by the data processing module is transmitted to the VR headset, and the VR headset feeds back the motion situation of the user to the user in real time in a manner of playing audio and video. The VR device video includes a virtual reality character and a background. The VR headset constructs a virtual reality character from a three-dimensional dynamic model. The virtual reality character accurately restores the posture change of the thighs and the calves of the user, the activation state of the lower limb muscles and the fatigue degree in real time, and is used for enhancing the activation of the lower limb muscles of the user through visual input. The background comprises forests, playgrounds, sealands, beach sand and cities, and the background music and the instruction of the VR headset are combined, so that a user is immersed in the virtual scene provided by the VR headset more easily, and finally the implementation effects of improving rehabilitation guidance and enhancing user interactivity are achieved.

The intelligent auxiliary muscle electric stimulation module improves the lower limb muscle activation mode of a user, the data processing module transmits the real-time three-dimensional movement model to the VR headset, and simultaneously transmits the real-time stimulation parameters to the electric stimulation main controller of the intelligent auxiliary muscle electric stimulation module, the user adjusts the stimulation parameters and the object (gluteus maximus, gluteus medius, tensor fascia lata, rectus femoris, medial femoral muscle, lateral femoral muscle and gastrocnemius) through the electric stimulation main input device of the intelligent auxiliary muscle electric stimulation module based on subjective feeling and doctor advice, and the patch type wireless silica gel electrode sheet (shown in figure 5) receives the adjusted stimulation parameters to output stimulation current to stimulate the lower limb muscle in the movement process of the user.

Through the design, the three-dimensional exercise analysis and the muscle electrical stimulation are combined with the virtual reality VR system, so that the problems of real-time three-dimensional exercise model construction and muscle electrical stimulation of knee osteoarthritis patients by utilizing an immersive virtual reality VR technology are solved, exercise rehabilitation equipment for improving the lower limb muscle activation mode of the knee osteoarthritis patients to avoid aerobic exercise injury is developed according to the knee osteoarthritis exercise therapy system theory, the difficulty of existing home rehabilitation is broken through, the enthusiasm of the patients to actively participate in rehabilitation therapy and social activities is stimulated, and finally the improvement of clinical cure efficiency is realized.

It should be noted that, although the foregoing embodiments have been described herein, the scope of the present application is not limited thereby. Therefore, based on the innovative concepts of the present application, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the application.

It will be appreciated by those skilled in the art that the various embodiments described above may be provided as methods, apparatus, or computer program products. These embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. All or part of the steps in the methods according to the above embodiments may be implemented by a program for instructing related hardware, and the program may be stored in a storage medium readable by a computer device, for performing all or part of the steps in the methods according to the above embodiments. The computer device includes, but is not limited to: personal computers, servers, general purpose computers, special purpose computers, network devices, embedded devices, programmable devices, intelligent mobile terminals, intelligent home devices, wearable intelligent devices, vehicle-mounted intelligent devices and the like; the storage medium includes, but is not limited to: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, usb disk, removable hard disk, memory card, memory stick, web server storage, web cloud storage, etc.

The embodiments described above are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a computer device to produce a machine, such that the instructions, which execute via the processor of the computer device, create means for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer device-readable memory that can direct a computer device to function in a particular manner, such that the instructions stored in the computer device-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer apparatus to cause a series of operational steps to be performed on the computer apparatus to produce a computer implemented process such that the instructions which execute on the computer apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the embodiments have been described above, other variations and modifications will occur to those skilled in the art once the basic inventive concepts are known, and it is therefore intended that the foregoing description and drawings illustrate only embodiments of the application and not limit the scope of the application, and it is therefore intended that the application not be limited to the specific embodiments described, but that the application may be practiced with their equivalent structures or with their equivalent processes or with their use directly or indirectly in other related fields.

Claims

1. A motion guide device, comprising:

the motion data acquisition module, the motion data acquisition module includes: the inertial sensor is used for acquiring the joint space position; the force table is used for acquiring stress information of the joint; the surface electromyographic signal sensor is used for acquiring the electrical signal data of the muscle corresponding to the joint;

the motion data processing module is in data connection with the motion data acquisition module and is used for calculating joint angles according to joint space position information, calculating loads on the inner side and the outer side and the front side of the joint according to stress information of the joint and calculating activation or fatigue of different muscles according to electric signal data of muscles corresponding to the joint;

and the feedback module comprises an electrode slice, and the electrode slice is used for outputting the stimulating current according to the activation or fatigue degree of different muscles.

2. The motion guide device of claim 1, wherein,

the motion data processing module is further configured to generate a real-time state model of the joint according to the joint spatial position information, and further includes:

and the display device is used for displaying the real-time state model of the joint.

3. The motion guide device of claim 2, wherein the display device is further configured to indicate an activity or a degree of fatigue of a corresponding muscle group in the real-time state model of the joint.

4. A motion guide device according to claim 2 or 3, wherein,

the display device is a VR display device.

5. The motion guide apparatus of claim 4, wherein the VR display is further configured to display a virtual character real-time status model and a background.

6. The motion guide apparatus of claim 4, wherein the VR display is further configured to enter different motion guide modes according to different muscle activations or fatigues, and play moving pictures of different real-time status models of characters in the different motion guide modes.

7. The exercise guide of claim 1, wherein the force station is provided on a treadmill for varying the output power according to the activation or fatigue of different muscles.

8. The motion guide device of claim 7, wherein the joint is a knee joint and the electrode sheet is applied to one or more of gluteus maximus, gluteus medius, quadriceps, gastrocnemius, and tensor fascia lata.

9. The motion guide device of claim 8, wherein the surface electromyographic signal sensor is disposed at one or more of gluteus maximus, gluteus medius, quadriceps, gastrocnemius, and tensor fascia lata, and the inertial sensor is disposed at one or more of a center of pelvis, anterior thigh bilaterally, anterior calf, and instep.

10. The motion guide device according to claim 9, wherein the outputting of the stimulation current according to the activation or fatigue of the different muscles comprises in particular: when the activation degree of all detected muscle groups does not exceed a first threshold value, outputting stimulation current by all electrode plates; outputting a suppression current when all detected muscle group activation activities exceed a second threshold; when the activation degree of all the detected muscle groups is larger than the first threshold value and smaller than the second threshold value, the suppression current is output to the muscle groups with the fatigue degree exceeding the third threshold value.