Rehabilitation robot with electromyographic stimulation function and control method thereof

Abstract

The invention provides a myoelectricity stimulation control method applied to rehabilitation equipment. The rehabilitation equipment at least comprises an exoskeleton robot for a user to carry out myoelectricity stimulation rehabilitation training. The method comprises the following steps of starting the equipment, and obtaining the basic information of the user; judging a user type, acquiring user training data, and initializing equipment configuration; if the user is a new user, obtaining an optimal position of user myoelectricity stimulation through myoelectricity stimulation automatic positioning; and in response to a training instruction input by a user, entering a myoelectricity stimulation training mechanism matched with the training instruction. The method is advantaged in that problems that in the prior art, the myoelectricity stimulation position is not accurate, the nerve tolerance myoelectricity stimulation effect is poor, and foot varus and valgus / foot drop / upper limb myasthenia cannot be corrected are solved.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to a rehabilitation robot with a myoelectric stimulation function and a control method thereof. Background technique [0002] Pulse muscle electrical stimulation is the use of artificial weak current pulse signals to stimulate the nerves of the patient's target muscle groups. It is often used for strength training of disused muscles due to long-term inactivity, surgery or injury, thereby maintaining muscle mass, maintaining and increasing joint mobility, Promotes voluntary muscle control and reduces spasticity and prevents muscle wasting. The rehabilitation robot is a wearable robot that can be used for the rehabilitation of patients with movement disorders, muscle function impairments, and joint function impairments. [0003] However, among the products sold on the market, pulsed muscle electrical stimulators and rehabilitation robots have their own disadvantages respectively....

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Problems solved by technology

[0003] However, among the products on the market, pulsed muscle electrical stimulators and rehabilitation robots have their own disadvantages respectively.

For patients with muscle and nerve function impairments, foot drop and foot valgus are prone to occur during the rehabilitation training process using rehabilitation robots. The existing rehabilitation robots on the market mostly use straps to fix the foot to prevent foot drop. , can not play a rehabilitation role for patients with foot drop and foot valgus; in addition, there are patients with impaired functions such as upper limbs and knee joints. The existing rehabilitation robots on the market are mainly for rehabilitation training of joint mobility. less recovery

The pulse muscle stimulator requires that the wearing position must be accurate, otherwise it is easy to appear that the target nerve cannot be accurately stimulated due to inappropriate wearing position; for example, the human triceps acts on the elbow joint, shoulder joint, biceps The muscle acts on the elbow joint, the forearm rotates backward, and the tibialis anterior muscle can help the foot dorsiflex and varus. However, the individual differences in the human body structure are large. Different patients have differences in the position of the muscles, and the position to be stimulated will vary. , needs to be adjusted many times when wearing, the use is more cumbersome, and the rehabilitation effect is not good; and in the case of continuous electrical stimulation, nerve tolerance fatigue is prone to occur. When the patient uses it, with the increase of nerve tolerance , it is necessary for the rehabilitation therapist to increase the electrical stimulation power, if the power exceeds the safe range, it will cause damage to the patient

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