201031397 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種功能性電刺激踩車系統及其方法，尤其 是關於一種肌電訊號回饋控制功能性電刺激踩車系統及其方 法。 0 【先前技術】 近年來，台灣老年人口比例增加，台灣已經成為一個老齡 化社會’老齡化伴隨著復健治療已是未來的重要課題。因為 50歲以上的人是最容易發生中風的高危險群，根據衛生署網 ' 站資料公布指出台灣老年人十大死因中風排名第二，由於病患 人口增加，醫院復健設備不足，許多人無法有效的做物理復 健，若能發展出一套價格低廉且實用性高的功能性電刺激踩車 〇 系統，不僅讓病患節省許多時間且可以隨時在家做復健，也可 以減低一般家庭的負擔。 以往的復健治療是透過復健師的按摩與指導，經過一些簡 單動作不斷的練習’讓受損神經慢慢的可以控制肌肉活動，然 而卻必須花費許多的人力與物力且至少三個月到半年以上的 時間來執行才能看到效果。 因此現在開始有了更進―步的復健療法。功能性電刺激踩 車系統是新-代触健工具，使用踩腳踏車來達到肌肉的伸展 4 201031397 及收縮，並配合功能性電刺激來刺激肌肉收縮，可以有效的防 止肌肉萎縮。 習知技術一係為美國專利編號:US 72808Ή，是利用踩車 速度、位置來判斷與控制功能性電刺激之電刺激輸出劑量。依 據不同的踩車速度之快慢或轉動位置之大小可以控制輸出不 同的電刺激劑量大小。踩車速度較慢者，其肌肉之運動力較 J會得到較大的電刺激劑量;相反的，踩車速度較快者，其 肌肉之運動力較大，會制較小的電刺賴量’使得使用者產 生肌肉收縮。使料種方法軸可賤得絲有贱善行走的 迫力’但是因每個人的肌肉狀況不同，其所需要的電刺激劑量 必寓·適合其肌肉之狀況而調整以免產生不通應的附作用。若以 踩車速度或是位置做觸基準來機赋地難·激劑量，往 往會引起使用者之不適。因此f知技術無法達咖人而異的差 異化訓練功能。 因此’綜合上述有必要提供一種創新且較進步的發明，設 計出可根據個人肌肉訊號的回饋控制方式來應用在電刺激踩 車系統上面。本發明所採用岐直接量測肌肉的肌電訊號 (Electromyography ’簡稱EMG)。本發明採用肌電訊號回饋控 制’透過即時的肌電訊號訊號制，將量_之訊聽料經過 運算來回饋控制魏性電做之㈣，並經由電継去刺激大 腿肌肉，以達到肌肉_之效果，並進行踩車運動，此為本發 201031397 明獨到創新之處。 【發明内容】 本發明目的之一在提供一種肌電訊號回饋控制功能性電 刺激踩車緖，該祕包括—生觀雌組、—參數分析 模組模組、-訊號運算處理模組、一功能性電刺激器模組、一 使用者、一踩車。該生理訊號量測模組將量測到的肌電訊號送 入參數77析H參數分析模組便會將收到的資料轉換成肌電 訊號能階編碼’㈣峨送人訊號處賴組做運算動作， 並送出-_量編碼來控制魏性電繼雜組輸出之電刺 激劑里’再輸出去，激使用者之大腿肌肉，致使使用者踩鱗 車。 '‘ 本發明之又一目的在提供一訊號運算處理模組，其包括一 左右腳階層選擇單元、—控⑽統單元和—數位義比單元。 將肌電訊舰階編碼送人左右輯層選料元，並分別根據左 腳肌電訊號歸與右腳肌電訊雜階計算—定時_各能階 累積人數，再將其運鼻所輸出之左腳階層資料與右腳階層資料 送入控鮮7L，蝴單元綠據輸人之场騎資料與右腳階 層資料辦财無誤_發生，並賴選_切_資料與右 腳階層資_換_4辆後私触_比單元;劑量編瑪 會經由數鋪比單元來控制電刺激器，以輪出相對應之電刺激 劑量。 6 201031397 本發明之再一目的在提供一種肌電訊號回饋控制功能性 電刺激之踩車方法’此方法包括下列步驟：首先，量測使用者 之肌電訊號；接著，雜权肌電城分雜ώ肌電訊號 能階編碼；再根據左右腳分別在-定時間内累積各能階之次 數’並經由其運算來輸出左腳階層資料與右腳階層資料；接著 將所選擇的讀階層雜與右離層資娜換細量編碼，並 辦別有無誤動作發生，以避免使用者不正如力離況下會送 出錯誤的舰編碼；經數位類比轉換單元送出類比訊號至功能 性電刺激賴組；最後功紐測賴組輸出補應之電刺激 劑量至使用者。 【實施方式】 參考圖1所7F ’本發明之肌電訊號回饋控制功能性電刺激 踩車系統較佳實施例包括一生理訊號量測模組1(Η、一參數分 析模組1G2、-訊號運算處理模組、—功能性電刺激器模 組104、一使用者1〇5以及一踩車1〇6。 再參考圖1 ’該生理訊號量測模組1〇1將量測到的肌電訊 號送入參數分析模組102，則參數分析模組1G2便會將收到的 資料轉換成肌電訊號能階編碼201，再將訊號送人訊號運算處 理模組103做運算動作，並送出一組劑量編碼2〇5以控制功 能性電刺激H模組1G4輸丨之電做継，並輸出去刺激使用 者105之大腿肌肉’使得使用者1〇5做出踩動踩車1〇6之動作。 201031397 如參考圖1與圖2所示’該訊號運算處理模組1〇3包括： 一左右腳階層選擇單元202、一控制系統單元203、一數位轉 類比單元204。該參數分析模組102將肌電訊號能階編碼201 送入左右腳階層選擇單元202，其將分別根據左腳肌電訊號能 階與右腳肌電訊號能階計算一定時間内各能階累積次數，並由 其運算輸出左腳階層資料與右腳階層資料2〇5送入控制系統 單兀203 ;控制單元203會根據輸入之左腳階層資料與右腳 階層資料辦別有無誤動作發生，並將所選擇的左腳階層資料與 右腳階層資料轉換成劑量編碼2〇6送入數位轉類比單元2〇4， 劑罝編碼經過數位類比單元輸出類比訊號2〇7去控制功能性 電刺激器，104輸出相對應之電刺激劑量。 % 參考圖3’係為肌電訊號回饋控制功能性電刺激踩車方法 之流程圖，其包含以下步驟：步驟一，量測使用者之大腿肌電 訊號；步驟二’根據肌電訊號分別輸出肌電訊號能階編碼；步 驟三’分聰據左舰電域能酸右舰魏魏階計算一 定時間内各能階累積次數，並由其運算輪出左腳階層資料與右 腳階層資料；步驟四，選擇的左腳階層資料與右腳階層資料轉 換成劑量網’並_有無魏碰生；步，練位類比 轉換早兀送驗比峨至功能性電継器模組；步驟六，功能 性電刺激器模組輸出相對電刺激劑量至使用者，·步驟七，使用 者進行踩車動作。 8 201031397 ，以^本發明讀佳具體龍例鶴了㈣賴本發明之 技術内容，麟將本發徽義地關_實_，凡依本發 明之精神及以 只 下申請專_容賴之情輯做之種觀化實綱屬本發明 之範圍。 x 【圖式簡單說明】 圖1為本發明最佳實施例之肌電訊號回饋控制功能性電刺 激踩車系統架構圖； 圖2為本發明之訊號運算處理模組示意圖； 圖3為本發明之肌電訊號回饋控制功能性電刺激踩車方法 之流程圖。 【主要元件符號說明】 101生理訊號量測單元 102參數分析模組 1〇3訊號運算處理模組 i〇4功能性電刺激器 105使用者 106踩車 201肌電訊號能階編碼 202左右腳階層選擇單元 2〇3控制系統單元 2〇4數位轉類比單元 205階層資料 9 201031397 206 劑量編碼 207 類比訊號 301 步驟一 302 步驟二 303 步驟三 304 步驟四 305 步驟五 306 步驟六 307 步驟七201031397 VI. Description of the Invention: [Technical Field] The present invention relates to a functional electrical stimulation treading system and method thereof, and more particularly to a myoelectric signal feedback control functional electrical stimulation treading system and method thereof. 0 [Prior Art] In recent years, the proportion of the elderly population in Taiwan has increased, and Taiwan has become an aging society. 'Aging with rehabilitation therapy is an important issue in the future. Because people over the age of 50 are the most vulnerable group with a high risk of stroke, according to the Department of Health website's information, the top ten causes of death in Taiwan are ranked second in stroke. Due to the increase in the population of the patients, the rehabilitation equipment of the hospital is insufficient. Many people Can not effectively do physical rehabilitation, if you can develop a low-cost and practical high-performance functional electric stimulation rut system, not only save patients a lot of time and can do rehabilitation at home, can also reduce the average family The burden. In the past, rehabilitation therapy was carried out through the massage and guidance of the rehabilitation teacher. After some simple exercises, the painful nerve can slowly control the muscle activity. However, it must take a lot of manpower and material resources and at least three months to six months. The above time is executed to see the effect. So now there are more advanced rehabilitation therapies. The functional electric stimulation treadmill system is a new-generational touch tool that uses a bicycle to reach muscle stretching 4 201031397 and contraction, combined with functional electrical stimulation to stimulate muscle contraction, can effectively prevent muscle atrophy. The prior art is U.S. Patent No.: US 72,808, which is an electric stimulation output dose for judging and controlling functional electrical stimulation using the speed and position of the treadmill. The output of different electrical stimulation doses can be controlled according to the speed of the different treading speeds or the position of the rotating position. If the speed of the car is slower, the muscles will have a larger electric stimulation dose than J. On the contrary, if the speed of the car is faster, the muscles have greater exercise power and will make smaller electric spurs. 'Let the user produce muscle contraction. The method of the seed method can be used to obtain the force of walking. However, because each person's muscle condition is different, the required electrical stimulation dose must be adjusted to suit the condition of the muscle to avoid an unacceptable effect. If the speed is based on the speed of the stepping on the vehicle or the position is used to make the machine difficult to apply, it will often cause discomfort to the user. Therefore, the knowledge technology cannot achieve the difference training function. Therefore, it is necessary to provide an innovative and progressive invention that is designed to be applied to an electrical stimulation tread system based on feedback control of individual muscle signals. The present invention employs a myoelectric signal (Electromyography) (EMG) that directly measures muscle. The invention adopts the myoelectric signal feedback control to pass the instant myoelectric signal signal system, and the amount of the hearing material is controlled by the operation feedback control (IV), and the thigh muscle is stimulated by the electric sputum to reach the muscle _ The effect, and the stepping on the car, this is the unique innovation of 201031397. SUMMARY OF THE INVENTION One object of the present invention is to provide a myoelectric signal feedback control functional electrical stimulation treading, the secret includes: a female observation group, a parameter analysis module module, a signal operation processing module, and a Functional electrical stimulator module, one user, one stepping on the car. The physiological signal measurement module sends the measured myoelectric signal to the parameter 77 analysis H parameter analysis module, and the received data is converted into the myoelectric signal level code '(4) 峨 人 讯 讯 处 做 做The operation action, and send the -_ quantity code to control the electrical stimulator output of the Wei-Sheng electric relay group to 're-output, stimulate the thigh muscle of the user, causing the user to step on the scale car. Another object of the present invention is to provide a signal operation processing module including a left and right leg level selection unit, a control unit (10) unit, and a digital ratio unit. The muscle telecom ship order code is sent to the left and right layers to select the material element, and according to the left foot muscle signal, the right foot muscle telecommunication heterogeneous calculation is calculated - the timing_the cumulative number of each energy level, and then the nose is output. The foot-level data and the right-foot class data are sent to the control 7L. The butterfly unit is based on the data of the loser and the right-foot class. The money is correct. _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4 rear private touch _ ratio units; dose coding will control the electrical stimulator via the number of comparison units to rotate the corresponding electrical stimulation dose. 6 201031397 A further object of the present invention is to provide a treadmill feedback control functional electrical stimulation stepping method 'This method comprises the following steps: first, measuring the user's myoelectric signal; then, the heterogeneous muscle electricity city The energy level coding of the hybrid muscle signal; and the number of times of each energy level is accumulated according to the left and right feet respectively, and the left foot level data and the right foot level data are output through the operation; then the selected read level is mixed. Change the code with the right-separated squad, and do something wrong, to prevent the user from sending the wrong ship code as if it were not in force. The analog signal is sent to the functional electric stimulation group by the digital analog conversion unit. Finally, the power measurement group outputs the supplemental electrical stimulation dose to the user. [Embodiment] Referring to Figure 1F, the preferred embodiment of the myoelectric signal feedback control functional electrical stimulation treading system includes a physiological signal measurement module 1 (Η, a parameter analysis module 1G2, - signal) The arithmetic processing module, the functional electrical stimulator module 104, a user 1〇5, and a stepping vehicle 1〇6. Referring again to Fig. 1 'the physiological signal measuring module 1〇1 will measure the muscle The electric signal is sent to the parameter analysis module 102, and the parameter analysis module 1G2 converts the received data into the myoelectric signal level code 201, and then sends the signal to the signal operation processing module 103 to perform the operation and send it out. A set of dose code 2〇5 is used to control the functional electrical stimulation of the H module 1G4, and the output is used to stimulate the thigh muscle of the user 105, so that the user 1〇5 makes a stepping on the car 1〇6 201031397 As shown in FIG. 1 and FIG. 2, the signal processing module 1〇3 includes: a left and right leg level selecting unit 202, a control system unit 203, and a digital to analog unit 204. The parameter analysis module Group 102 sends the EMG signal level code 201 to the left and right foot level The selecting unit 202 calculates the cumulative number of energy levels in a certain period of time according to the left foot muscle signal level and the right foot muscle signal level, and outputs the left foot level data and the right foot level data by the operation 2〇5 The control unit 203 is sent to the control system unit 203; the control unit 203 performs the occurrence of a malfunction according to the input left-leg hierarchy data and the right-foot hierarchy data, and converts the selected left-foot hierarchical data and the right-foot hierarchical data into a dose code. 6 is sent to the digital to analog unit 2〇4, the agent code is output through the digital analog unit output analog signal 2〇7 to control the functional electrical stimulator, 104 output corresponding electrical stimulation dose. % Refer to Figure 3' for the muscle telecommunications No. feedback control flow chart of the functional electric stimulation stepping method, comprising the following steps: step one, measuring the thigh muscle electrical signal of the user; step two 'outputting the myoelectric signal energy level coding according to the myoelectric signal respectively; step three According to the Zuo Cong, the left-wing electric field can be used to calculate the cumulative number of energy levels in a certain period of time, and the left foot class data and the right foot class data are rotated by the operation; step four, The left foot class data and the right foot class data are converted into a dose network 'and _ there is no Wei touch; the step, the level analog conversion is earlier than the test to the functional electric device module; step six, functional electricity The stimulator module outputs the relative electrical stimulation dose to the user, and step 7, the user performs the treading action. 8 201031397, by the invention, the reading of the specific concrete dragon crane (4) Lai this technical content, Lin will be issued Huiyi 地地关_实_, the scope of the present invention is based on the spirit of the present invention and the simplification of the application of the application only. x [Simple diagram of the diagram] Figure 1 FIG. 2 is a schematic diagram of a signal processing processing module of the present invention; FIG. 3 is a schematic diagram of a myoelectric signal feedback control functional electrical stimulation step of the present invention; Flow chart of the car method. [Main component symbol description] 101 physiological signal measurement unit 102 parameter analysis module 1 〇 3 signal processing processing module i 〇 4 functional electrical stimulator 105 user 106 stepping on the car 201 electromyography signal level coding 202 left and right foot level Selection unit 2〇3 control system unit 2〇4 digit to analog unit 205 level data 9 201031397 206 dose code 207 analog signal 301 step one 302 step two 303 step three 304 step four 305 step five 306 step six 307 step seven