EMS shaping pelvic underpants and control method thereof

Abstract

The invention relates to EMS (energy management system) shaping pelvic floor pants, which comprise shaping pants provided with a plurality of pulse output areas; the pulse control host is fixedly arranged at a preset position of the shaping pants in a detachable manner; specifically, each pulse output area is provided with a silica gel conducting strip and is electrically connected with the pulse control host through the silica gel conducting strip to form a control circuit corresponding to the pulse output area, and the pulse intensity, frequency and intermittent time of any control circuit can be independently adjusted. The intensity, time, rule and the like of pulse stimulation on muscles can be adjusted in real time by safely regulating and controlling factors such as intensity, frequency, intermittent time and the like of pulse current, and the same muscle group can be commanded to cooperatively work by pulse stimulation on areas of gluteus maximus, popliteus muscles, adductor muscles, quadriceps femoris muscles and iliotibial bundles around pelvic floor muscles; therefore, ectopic exercise effects of triggering contraction of perineum muscle groups, lifting buttocks, exercising pelvic floor muscles and the like are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of home physiotherapy products, and particularly to an EMS shaping pelvic floor underwear and a control method thereof. BACKGROUND

[0002] EMS (Electrical Muscle Stimulation) is a muscle electrical stimulation technology, which directly stimulates motor nerves through external current to cause corresponding muscle contraction. Specifically, EMS can simulate the biological electrical signals of the human brain, stimulate motor nerves with low-frequency pulse current, and instantly adjust the contraction strength, time and regularity of muscles by safely controlling the intensity, frequency and intermittent time of pulse current, so as to achieve the purposes of developing muscle strength, reducing fat, shaping and treating muscle soft tissue injuries. According to the above principle, many businesses have developed EMS equipment with muscle electrical stimulation function, such as intelligent abdominal belts and intelligent clothing. These products are provided with muscle electrical composite sheets, which are attached to the muscle group parts of the specified exercise, and the pulse current directly stimulates the muscle group through the muscle electrical composite sheet, thereby producing the effect of muscle contraction.

[0003] Because the EMS equipment technology in the existing market directly stimulates large muscle groups through electrical pulses to achieve regular automatic contraction, there are various muscle groups in the human body, and the muscle electrical composite sheet in the equipment setting is attached to the surface of the muscle group of the external large muscle group. The small muscle groups in the deep layer of the muscle body cannot be directly stimulated by the above-mentioned EMS equipment technology in the form of stimulating large muscle groups to stimulate the pelvic floor muscle group, so the EMS equipment technology in the existing market has poor exercise effect on the pelvic floor muscle group and relatively single function. Therefore, how to stimulate the exercise of the deep small muscle groups in the muscle body through electrical stimulation technology to achieve the effect of "ectopic exercise" is the focus of current EMS equipment research. SUMMARY

[0004] The purpose of the present application is to at least solve one of the deficiencies of the prior art, and provide an EMS shaping pelvic floor underwear and a control method thereof.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] Specifically, an EMS shaping pelvic floor underwear is provided, which comprises:

[0007] The shaping underwear is provided with a plurality of pulse output areas;

[0008] The pulse control host is fixedly arranged at a predetermined position of the shaping underwear in a detachable manner;

[0009] Specifically, each of the pulse output areas is provided with a silica gel conductive sheet and is electrically connected with the pulse control host to form a control circuit corresponding to the pulse output area, and all the control circuits are in parallel relationship, and the pulse intensity, frequency and intermittent time of any one of the control circuits can be independently adjusted.

[0010] Further, specifically, the pulse output areas are provided with five pulse output areas, and correspondingly, there are five control circuits, and when the molded panty is worn, the five pulse output areas cover the gluteus maximus, iliotibial band, popliteal muscle, adductor muscle and quadriceps muscle regions.

[0011] Further, specifically, the control circuit comprises,

[0012] The main control single-chip microcomputer module is connected with an EMS high-voltage generating module for generating an EMS high-voltage signal;

[0013] The voltage regulating PWM module is electrically connected with the main control single-chip microcomputer module for receiving the EMS high-voltage signal, regulating the voltage and outputting the regulated signal;

[0014] The EMS conversion module is electrically connected with the PWM module for performing EMS conversion on the regulated signal and outputting an EMS signal through an EMS output interface;

[0015] The power module is electrically connected with the main control single-chip microcomputer module for supplying power to the entire control circuit.

[0016] Further, the control circuit further comprises:

[0017] The BLE module is electrically connected with the main control single-chip microcomputer module for providing the control circuit with Bluetooth function to be connected with external devices through Bluetooth, and the BLE module is further connected with a wireless networking module.

[0018] Further, the control circuit further comprises:

[0019] The touch key module is electrically connected with the main control single-chip microcomputer module for preset gear adjustment.

[0020] Further, the control circuit further comprises a temperature detection unit, a battery power detection unit and a high-voltage detection unit for temperature detection, battery power detection and high-voltage detection, respectively.

[0021] Further, the power module further comprises a power stabilizing unit and a battery charging unit, the power stabilizing unit is used for stabilizing the voltage of the power module, and the battery charging unit is used for charging the power module.

[0022] The application further provides a control method applied to the EMS shaping panty.

[0023] In step 110, the ID information of the user is obtained when the user successfully logs in, and whether the user is a newly registered user is determined based on the ID information. If yes, the first mode is started, and after the first mode ends, the process goes to step 120. If no, the process goes to step 120 directly.

[0024] In step 120, the relevant parameters selected by the user are obtained.

[0025] In step 130, the relevant parameters selected by the user are input into the pulse control host.

[0026] In step 140, the pulse control host is controlled to execute a preset synergistic stimulation program according to the relevant parameters. Specifically,

[0027] In step 141, the pulse control host outputs first and second pulse signals to the gluteus maximus muscle area to stimulate the upper and lower regions of the gluteus maximus muscle, respectively.

[0028] In step 142, the pulse control host outputs a third pulse signal to the iliotibial tract muscle group area to stimulate the iliotibial tract and biceps brachii muscle area.

[0029] In step 143, the pulse control host outputs a fourth pulse signal to the hamstrings muscle area to stimulate the hamstrings muscle area.

[0030] In step 144, the pulse control host outputs a fifth pulse signal to the adductor muscle area to stimulate the adductor muscle area.

[0031] Further, the method further comprises,

[0032] N gears are preset. According to the number of gears from small to large, the five pulse signals are sequentially increased in the adjustable frequency range, and the frequency of the five pulse signals in each gear is preset to ensure that the cooperation effect is best when they act on each other.

[0033] A surface electromyography sensor is additionally arranged in each pulse output area. The surface electromyography sensor is used to collect sEMG signals.

[0034] Based on the above setting, for any pulse signal corresponding to the pulse output area, the sEMG signal sampling is performed in the preset sampling duration to obtain a sampling sEMG signal sequence.

[0035] Based on the sampling sEMG signal sequence, the root mean square RMS and the median frequency MF are calculated.

[0036] The muscle fatigue index FI corresponding to the pulse output area is calculated according to the root mean square RMS and the median frequency MF.

[0037] determining whether the muscle fatigue index FI is greater than the fatigue limit value, if greater than the fatigue limit value, stopping the operation of the EMS shaping pelvic pants cooperative stimulation program and performing an alarm, if not greater than the fatigue limit value, determining whether greater than the fatigue threshold value, if yes, marking the pulse output area as a fatigue output area;

[0038] counting the number P of fatigue output areas in the pulse output area corresponding to the 5-way pulse signal, if P is 0, maintaining the original gear to continue running, if P is [1, 2], reducing a gear to continue running, if P is [3, 4], reducing two gears to continue running, if P is 5, asking the user whether to continue running, if yes, reducing two gears to continue running, if not, stopping running, in addition, if the gear is reduced to below 1, maintaining 1 gear to run.

[0039] Further, specifically, the muscle fatigue index FI corresponding to the pulse output area is calculated according to the root mean square RMS and the median frequency MF, including,

[0040]

[0041] wherein RMS 初始 and MF 初始 are the baseline values of RMS and MF at the beginning of the cooperative stimulation program, RMS 当前 and MF 当前 are the root mean square RMS and the median frequency MF calculated based on the sampled sEMG signal sequence, and a is a preset weight.

[0042] The beneficial effects of the present application are:

[0043] The EMS shaping pelvic pants provided by the present application can instantly adjust the pulse stimulation intensity, time and regularity of muscles by safely regulating the intensity, frequency, intermittent time and other factors of the pulse current, and can command the muscles in the same group to work cooperatively for the pulse stimulation of the areas of the gluteus maximus muscle, the hamstrings, the adductor muscle, the quadriceps femoris muscle and the iliotibial band around the pelvic floor muscle, so as to achieve the effects of triggering the contraction of the perineal muscle group, lifting the hips, and ectopic exercise of the pelvic floor muscle. BRIEF DESCRIPTION OF DRAWINGS

[0044] The above and other features of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals denote like or similar elements throughout the views, and in which:

[0045] Figure 1is a side view of an EMS shaping panty proposed in the present application;

[0046] Figure 2 is another side view of an EMS shaping panty proposed in the present application. DETAILED DESCRIPTION

[0047] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with embodiments and drawings, so as to fully understand the purpose, scheme and effects of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The same reference numerals in the drawings indicate the same or similar parts.

[0048] REFERENCE Figure 1 and Figure 2 , embodiment 1, the present application proposes an EMS shaping panty, comprising:

[0049] The shaping pants are provided with a plurality of pulse output areas;

[0050] The pulse control host is fixedly arranged at a preset position of the shaping pants in a detachable manner;

[0051] Specifically, each pulse output area is provided with a silica gel conductive sheet, and is electrically connected with the pulse control host through the silica gel conductive sheet to form a control circuit corresponding to the pulse output area. All control circuits are in parallel relationship, and the pulse intensity, frequency and intermittent time of any one control circuit can be independently adjusted.

[0052] In the preferred embodiment of the present application, specifically, the pulse output area is provided with five, and there are five control circuits correspondingly. When the shaping pants are worn, the five pulse output areas cover the gluteus maximus corresponding to Figure 1 A1, A2, B1 and B2, the iliotibial tract Figure 1 A5 and B5 in Figure 2 A3 and B3, the adductor muscle Figure 1 A4 and B4 in Figure 1 and Figure 2 A5 and B5 in

[0053] In the preferred embodiment of the present application, specifically, the control circuit comprises,

[0054] The main control single-chip microcomputer module is connected with an EMS high-voltage generating module, and is used for generating an EMS high-voltage signal;

[0055] The voltage regulating PWM module is electrically connected with the master single-chip microcomputer module, used for receiving the EMS high-voltage signal, regulating voltage and outputting the regulated signal.

[0056] The EMS conversion module is electrically connected with the PWM module, used for converting the regulated signal into an EMS signal and outputting the EMS signal through an EMS output interface.

[0057] The power module is electrically connected with the master single-chip microcomputer module, used for powering the entire control circuit.

[0058] In the preferred embodiment of the present application, the control circuit further comprises:

[0059] The BLE module is electrically connected with the master single-chip microcomputer module, used for providing the control circuit with Bluetooth function to make Bluetooth connection with external devices, and the BLE module is further connected with a wireless networking module.

[0060] In the preferred embodiment of the present application, the control circuit further comprises:

[0061] The touch key module is electrically connected with the master single-chip microcomputer module, used for preset gear adjustment.

[0062] In the preferred embodiment of the present application, the control circuit further comprises a temperature detection unit, a battery power detection unit and a high-voltage detection unit, respectively used for temperature detection, battery power detection and high-voltage detection.

[0063] In the preferred embodiment of the present application, the power module further comprises a power stabilizing unit and a battery charging unit, the power stabilizing unit is used for stabilizing the power module, and the battery charging unit is used for charging the power module.

[0064] The present application further provides a control method applied to the EMS shaping panty, comprising the following steps:

[0065] In step 110, the ID information of the user is obtained when the user successfully logs in, and whether the user is a new registered user is determined based on the ID information, if yes, the first mode is started, and after the first mode ends, the step 120 is reached, if not, the step 120 is directly reached.

[0066] The first mode is a default motion feeling mode, wherein the pulse width of the pulse signal is 250-450, the frequency is 85-150 Hz, the voltage value is 60 V, and the operation time is 1-3 minutes.

[0067] In step 120, the related parameters selected by the user are obtained.

[0068] The user adjusts the pulse signal intensity and other related parameters through the app according to the personal stimulation feeling of the electric pulse

[0069] Step 130: input the selected related parameters into the pulse control host;

[0070] The app transmits the user's instructions to the pulse control host through Bluetooth, so as to directly enter the next time the machine is started;

[0071] Step 140: control the pulse control host to execute the preset cooperative stimulation program according to the related parameters, specifically,

[0072] Step 141: the pulse control host outputs the first pulse signal and the second pulse signal to the gluteus region, respectively stimulating the upper and lower regions of the gluteus;

[0073] Step 142: the pulse control host outputs the third pulse signal to the iliotibial tract muscle group region, stimulating the iliotibial tract and the biceps region;

[0074] Step 143: the pulse control host outputs the fourth pulse signal to the hamstrings region, stimulating the hamstrings region,

[0075] Step 144: the pulse control host outputs the fifth pulse signal to the adductor region, stimulating the adductor region.

[0076] As a preferred embodiment of the present application, the method further comprises,

[0077] Pre-set N gears, according to the number of gears from small to large, the 5-way pulse signal is sequentially increased in its adjustable frequency range, and the frequency of the 5-way pulse signal in each gear is pre-set to ensure that the cooperation effect is best when they act on each other (wherein, although the frequency of the 5-way pulse signal in each gear is pre-set, whether each pulse signal acts or not is not limited, but when each pulse signal acts, it acts according to the pre-set frequency);

[0078] A surface electromyography sensor is additionally arranged in each pulse output area, and the surface electromyography sensor is used to collect sEMG signals;

[0079] Based on the above setting, for any pulse output area corresponding to a pulse signal, sEMG signal sampling is performed in a pre-set sampling duration to obtain a sampling sEMG signal sequence;

[0080] Based on the sampling sEMG signal sequence, the root mean square RMS and the median frequency MF are calculated;

[0081] According to the root mean square RMS and the median frequency MF, the muscle fatigue index FI corresponding to the pulse output area is calculated;

[0082] determining whether the muscle fatigue index FI is greater than the fatigue limit value, if greater than the fatigue limit value, stopping the EMS shaping panty cooperative stimulation program running and giving an alarm, if not greater than the fatigue limit value, determining whether greater than the fatigue threshold value, if yes, marking the pulse output area as a fatigue output area;

[0083] counting the number P of fatigue output areas in the pulse output area corresponding to the 5-way pulse signal, if P is 0, maintaining the original gear to continue running, if P ∈ [1, 2], reducing a gear to continue running, if P belongs to [3, 4], reducing two gears to continue running, if P is 5, asking the user whether to continue running, if yes, reducing two gears to continue running, if not, stopping running, in addition, if the gear is reduced to below 1, maintaining 1 gear running.

[0084] In the preferred embodiment, considering that the root mean square value RMS calculated from the sEMG signal can reflect the muscle discharge intensity, which is positively correlated with muscle contraction force, and the median frequency MF is related to whether the muscle is fatigued, therefore, the root mean square RMS and the median frequency MF of the sampled sEMG signal sequence are calculated, and the muscle fatigue index FI corresponding to the pulse output area is calculated based on the root mean square RMS and the median frequency MF, and the subsequent gear adjustment is performed through the fatigue index FI, which can ensure that the user can be healthy in a safe condition.

[0085] As a preferred embodiment of the present application, specifically, the muscle fatigue index FI corresponding to the pulse output area is calculated based on the root mean square RMS and the median frequency MF, including,

[0086]

[0087] wherein RMS 初始 and MF 初始 are baseline values of RMS and MF at the beginning of the cooperative stimulation program, RMS 当前 and MF 当前 are the root mean square RMS and the median frequency MF calculated based on the sampled sEMG signal sequence, and α is a preset weight.

[0088] wherein a mature calculation method of the root mean square RMS is as follows,

[0089]

[0090] wherein x[n] represents the sEMG value of the nth sampling point in the sampled sEMG signal sequence, and N represents the total number of elements of the sampled sEMG signal sequence;

[0091] a mature calculation method of the median frequency MF is as follows,

[0092]

[0093] FFT is performed on the sampled sEMG signal sequence to obtain its frequency spectrum,

[0094] The power spectral density PSD of the frequency spectrum is calculated: P(f)=|X(f)| 2 where X(f) is the FFT result.

[0095] In addition, during the above calculation process, signal preprocessing can be performed as necessary to ensure the accuracy of subsequent calculations.

[0096] In a preferred embodiment,

[0097] 1. Pubococcygeus muscle contraction: the pulse control host executes the programs 141 and 142, and outputs the first pulse signal and the second pulse signal to the gluteus maximus muscle region and the fifth pulse signal to the adductor region, so that the upper and lower regions of the gluteus maximus muscle and the adductor muscle group receive electrical pulse stimulation, and the stimulation frequency is 250-450Hz.

[0098] 2. Hip lifting: the pulse control host executes the programs 141 and 144, and outputs the first pulse signal and the second pulse signal to the gluteus maximus muscle region and the third pulse signal to the iliotibial tract muscle group region, so that the upper and lower regions of the gluteus maximus muscle and the iliotibial tract muscle group region receive electrical pulse stimulation, and the stimulation frequency is 250-450Hz.

[0099] 3. Pelvic floor muscle exercise: the pulse control host executes the programs 141, 143 and 144, and outputs the first pulse signal and the second pulse signal to the gluteus maximus muscle region, the third pulse signal to the hamstrings muscle region, and the fifth pulse signal to the adductor region, so that the upper and lower regions of the gluteus maximus muscle, the hamstrings muscle region, and the adductor region receive electrical pulse stimulation, conduct and cause regular exercise of the pelvic floor muscles, and achieve the effect of ectopic exercise.

[0100] The modules described as separate components can or can not be physically separated, and the components shown as modules can or can not be physical modules, i.e. they can be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme in the embodiment.

[0101] In addition, the functional modules in each embodiment of the application can be integrated in one processing module, or each module can exist physically alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0102] The integrated module, if implemented in the form of a software function module and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0103] Although the description of the present application has been quite detailed and particularly described with respect to several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be considered to be a broad interpretation of the claims in view of the prior art, so as to effectively encompass the intended scope of the present application. In addition, the present application is described above in embodiments that the inventors can foresee, and the purpose is to provide a useful description, and those non-essential modifications to the present application that have not yet been foreseen can still represent equivalent modifications of the present application.

[0104] The above is only the preferred embodiment of the present application, and the present application is not limited to the above-mentioned embodiments, as long as the same means achieve the technical effect of the present application, it should belong to the protection scope of the present application. The technical solutions and / or embodiments within the protection scope of the present application can have various modifications and changes.

Claims

1. An EMS shaping panty, characterized in that, The EMS shaping panty comprises a plurality of pulse output areas, a pulse control host fixedly arranged at a preset position of the panty in a detachable manner, and a plurality of pulse output areas. Specifically, each pulse output area is provided with a silica gel conductive sheet and is electrically connected with the pulse control host through the silica gel conductive sheet to form a control circuit corresponding to the pulse output area. Specifically, the pulse output area is provided with five pulse output areas, and five control circuits are correspondingly provided. Specifically, the control circuit comprises a main control single-chip microcomputer module connected with an EMS high-voltage generating module for generating an EMS high-voltage signal, a voltage regulating PWM module electrically connected with the main control single-chip microcomputer module for receiving the EMS high-voltage signal, regulating voltage and outputting a regulated signal, an EMS conversion module electrically connected with the PWM module for performing EMS conversion on the regulated signal and outputting an EMS signal through an EMS output interface, and a power module electrically connected with the main control single-chip microcomputer module for supplying power to the entire control circuit.

2. The EMS shaping panty brief of claim 1, wherein, The control circuit further comprises a BLE module electrically connected with the main control single-chip microcomputer module for providing the control circuit with a Bluetooth function to be connected with an external device through Bluetooth, and the BLE module is further connected with a wireless networking module.

3. The EMS shaping panty brief of claim 1, wherein, The control circuit further comprises a touch key module electrically connected with the main control single-chip microcomputer module for adjusting a preset gear. The control circuit further comprises a temperature detection unit, a battery power detection unit and a high-voltage detection unit for temperature detection, battery power detection and high-voltage detection, respectively. The power module further comprises a power stabilizing unit for stabilizing the power module and a battery charging unit for charging the power module. The EMS shaping panty comprises a plurality of pulse output areas, a pulse control host fixedly arranged at a preset position of the panty in a detachable manner, and a plurality of pulse output areas. Step 110: obtaining ID information of a user when the user successfully logs in, and determining whether the user is a newly registered user based on the ID information, if yes, starting a first mode and then turning to step 120, if not, directly turning to step 120.

4. The EMS shaping panty brief of claim 3, wherein, Step 120: obtaining relevant parameters selected by the user. Step 130: inputting the relevant parameters selected by the user into the pulse control host.

5. The EMS shaping panty brief of claim 3, wherein, Step 140: controlling the pulse control host to execute a preset coordinated stimulation program according to the relevant parameters, specifically, Step 141: outputting first and second pulse signals to the gluteus maximus region to stimulate upper and lower regions of the gluteus maximus, respectively.

6. The EMS shaping panty brief of claim 3, wherein, Step 142: outputting a third pulse signal to the femoral popliteal muscle group to stimulate the gluteus femoris and the gluteus popliteus.

7. The EMS shaping panty brief of claim 3, wherein, Step 143: outputting a fourth pulse signal to the gluteus popliteus to stimulate the gluteus femoral popliteus.

8. A control method characterized by, ​ ​ ​ ​ ​ ​ ​ ​ Step 144, the pulse control host outputs a fifth pulse signal to the adductor region to stimulate the adductor region.

9. The control method of claim 8, wherein, The method further comprises, Pre-set N gears, according to the number of gears from small to large, the 5-way pulse signal is sequentially raised in its adjustable frequency range, and the frequency of the 5-way pulse signal in each gear is pre-set to ensure that the cooperation effect is best when acting on each other. A surface electromyography sensor is additionally arranged in each pulse output area, and the surface electromyography sensor is used to collect sEMG signals. Based on the above settings, for any pulse output area corresponding to any one of the 5-way pulse signals, the sEMG signal sampling is performed in a pre-set sampling duration to obtain a sampling sEMG signal sequence; Based on the sampling sEMG signal sequence, the root mean square RMS and the median frequency MF are calculated; According to the root mean square RMS and the median frequency MF, the muscle fatigue index FI corresponding to the pulse output area is calculated. It is judged whether the muscle fatigue index FI is greater than the fatigue limit value, if it is greater than the fatigue limit value, the running of the cooperative stimulation program of the EMS shaping panty is stopped and an alarm is given, if it is not greater than the fatigue limit value, it is further judged whether it is greater than the fatigue threshold value, if it is, the pulse output area is marked as a fatigue output area; The number P of fatigue output areas in the pulse output areas corresponding to the 5-way pulse signals is counted, if P is 0, the original gear is kept to continue running, if P ∈ [1, 2], one gear is lowered to continue running, if P belongs to [3, 4], two gears are lowered to continue running, if P is 5, the user is asked whether to continue running, if yes, two gears are lowered to continue running, if not, the running is stopped, and in addition, if the gear is lowered to below 1, the gear is kept to 1.

10. The control method of claim 9, wherein Specifically, according to the root mean square RMS and the median frequency MF, the muscle fatigue index FI corresponding to the pulse output area is calculated, including, wherein RMS 初始 and MF 初始 are the baseline values of RMS and MF at the beginning of the co-stimulation procedure, respectively, RMS 当前 and MF 当前 are the root mean square RMS and median frequency MF calculated based on a sequence of sampled sEMG signals, respectively, and a is a preset weight.

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