A plug-and-play functional electrical stimulation electric stimulator system and method

Abstract

The present disclosure provides a plug-and-play functional electrical stimulation system and method. The system includes a main controller connected to at least two series-connected electrical stimulators via a bus; the main controller is configured to receive and execute motion task files, and coordinate the output logic timing of the multi-channel electrical stimulators via the bus; the motion task files are composed of control parameters set based on the patient's degree of muscle damage; the control parameters include: the number of different states of a customizable state machine corresponding to the functional training task, the trigger conditions required for state transitions, and the functional electrical stimulation output parameters for each state.

Description

Technical Field

[0001] The present disclosure belongs to the field of electronic equipment, and in particular to a plug-and-play functional electrical stimulation electrostimulator system and method. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] Stroke is a group of diseases characterized by symptoms of cerebral ischemia and hemorrhagic damage. Approximately 75% of stroke survivors experience varying degrees of disability, with 40% experiencing severe disability, causing significant physical and mental harm to patients. Currently, there are few hospitals and rehabilitation institutions in China equipped with professional rehabilitation equipment, and the cost is relatively high. Consequently, a large number of stroke patients lack timely and effective rehabilitation treatment. There is an urgent need for a portable, easy-to-use stroke treatment system to assist patients with daily rehabilitation.

[0004] Conventional electrical stimulation stimulates nerves or muscles through low-intensity pulsed currents, causing them to produce specific movements, which can significantly improve motor function after a stroke. The inventors have discovered that existing surface patch functional electrical stimulation systems have the following drawbacks:

[0005] (1) The number of electrical stimulation channels is fixed and does not have scalability, so its versatility is limited. Users cannot apply it in different application scenarios based on the patient's condition and the demand for the number of electrical stimulation channels.

[0006] (2) The electrical stimulation system is a desktop or wheeled vehicle structure, which is bulky and cannot be portable.

[0007] (3) There is no PC software to set the number of channels of the electrical stimulation system, and only a system with a fixed number of electrical stimulation channels can be set.

[0008] (4) The electric exciters are built-in and cannot be connected in series.

[0009] (5) The electric exciter is built-in and cannot work independently to complete simple functions.

[0010] (6) The electric exciter is built-in and not fully modularized, so users cannot use it by plug and play.

[0011] (7) The electric stimulator is built-in. The electric stimulator alone does not have a display function and cannot conveniently provide basic parameter information to patients or medical staff, which meets the design requirements of the electric stimulator working independently to complete simple functions. Summary of the Invention

[0012] According to one aspect of one or more embodiments of the present disclosure, a plug-and-play functional electrical stimulation electrical stimulator system is provided, which can provide multiple electrical stimulation channels to complete specific required movement movements according to the different degrees of impairment of the patient's motor function and different requirements for the number of electrical stimulation channels.

[0013] The present invention discloses a plug-and-play functional electrical stimulation electric stimulator system, comprising:

[0014] A main controller connected to at least two series-connected electric actuators via a bus; the main controller is used to receive motion task files, execute the motion task files, and coordinate the output logic timing of the multi-channel electric actuators via the bus;

[0015] The motion task file is composed of control parameters set according to the degree of muscle damage of the patient; the control parameters include: the number of different states of the customizable state machine corresponding to the functional training task, the trigger conditions required for state transition, and the functional electrical stimulation output parameters of each state.

[0016] In one or more embodiments, the electric exciter comprises:

[0017] A control module for providing timer control of the action when the electric exciter works independently;

[0018] a discharge module for generating a stimulation signal for stimulating muscle contraction of the patient;

[0019] A storage module, configured to store corresponding functional electrical stimulation parameters;

[0020] A data command communication module, which is used to receive output commands from the main controller and provide feedback information to the main controller;

[0021] The power management module is used to provide energy for the current electric exciter to work, and is used to supply power to the next electric exciter in series when multiple electric exciters are connected in series.

[0022] Among them, the functional electrical stimulation parameters include: upslope time, peak value, downslope time and delay time setting parameters.

[0023] In one or more embodiments, any two electric actuators also communicate with each other via a bus.

[0024] In one or more embodiments, the main controller is connected to a host computer, and the host computer is used to form a motion task file and send it to the main controller.

[0025] In one or more embodiments, the main controller is connected to a mobile terminal, and the mobile terminal is used to form a motion task file and send it to the main controller.

[0026] In one or more embodiments, the electric exciter further includes: a display module for displaying basic parameter information.

[0027] In one or more embodiments, the electrical stimulator further includes: a boost circuit, which is used to increase the voltage value of the stimulation signal generated by the discharge module to stimulate the patient's muscle contraction to a preset voltage value.

[0028] In one or more embodiments, the electrical stimulator further includes: a constant current source circuit, which is used to keep the stimulation signal that stimulates the patient's muscle contraction constant.

[0029] In one or more embodiments, the electric exciter also includes: a discharge protection circuit, which is used to monitor the voltage and current to prevent the voltage from being too high or the current from being too large. Through the comparator circuit, when the voltage is too high, the comparator output is reversed, notifying the control module to immediately shut down the voltage output.

[0030] In one or more embodiments, a motion sensor is also integrated inside the electric exciter, which transmits the angle changes it collects to the control module, and determines the execution status of the current action in the control module, forming a closed-loop feedback system to coordinate and complete a complete action.

[0031] In one or more embodiments, the discharge module is a symmetrical pulse generating circuit, which is responsible for generating pulse currents with opposite positive and negative directions to ensure that the amount of charge injected into and out of the stimulated muscle is equal.

[0032] According to another aspect of one or more embodiments of the present disclosure, a working method of a plug-and-play functional electrical stimulation electrical stimulator system is provided, which can provide multiple electrical stimulation channels according to the different degrees of impairment of the patient's motor function and different requirements for the number of electrical stimulation channels, thereby achieving timing synchronization of electrical stimulation.

[0033] The present invention discloses a method for operating a plug-and-play functional electrical stimulation electrostimulator system, comprising:

[0034] After the main controller is powered on, it reads the parameter information in its own memory and waits for new parameters to be set or for the default training task to be started. If no parameters are set or a new training task is started, the main controller enters the standby state;

[0035] During standby mode, the main controller communicates with each electric stimulator according to the ID of the inserted electric stimulator and the set parameters to determine their respective working states and working sequences.

[0036] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0037] During the standby process or working process, once a new electric activator is connected to the system, the main controller shuts down and enters the standby state; after receiving the login registration command sent by the electric activator, the main controller assigns a new action task to the inserted electric activator, and reads whether there is an action task for the newly inserted electric activator in the memory. If so, the user is prompted to select the corresponding action task; otherwise, the user is prompted to re-edit the action task and run according to the newly edited action task.

[0038] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0039] When the main controller is in operation, if the stop button is pressed, the main controller will immediately stop the output of each electric exciter through a command.

[0040] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0041] When the main controller is in operation, if an electric actuator is unplugged or disconnected from the bus, the main controller immediately enters the standby state and prompts the user to unplug or update the action task.

[0042] In one or more embodiments, to ensure that the current is injected into only one direction and muscle location at the same time, to achieve timing synchronization of electrical stimulation, and to ensure that the time synchronization error of each electrical stimulator is within a preset range, the specific process is as follows:

[0043] The main controller detects and ensures that all the electric actuators required for the current action task have been registered and connected to the bus and are working normally;

[0044] The main controller issues the action task to each electric actuator according to the action task, and configures and modifies the corresponding parameters;

[0045] The main controller sends a timing correction frame via a broadcast command and waits for each electro-stimulator to reply with a correction confirmation frame. The main controller records the delay correction while waiting for the electro-stimulator to reply:

[0046] If the delay is less than or equal to the preset threshold, the timing synchronization is considered normal, and a timing correction completion frame is sent back to the corresponding electric stimulator. After receiving the timing correction completion frame, the electric stimulator exits the timing synchronization process and enters normal standby mode.

[0047] If the delay exceeds a preset threshold, it is considered that the synchronization is abnormal, and the timing correction frame is resent until each electric exciter is synchronized normally.

[0048] In one or more embodiments, a threshold value for the number of times each electric stimulator repeatedly attempts synchronization is also set in the main controller. If the threshold value is exceeded, the timing of the electric stimulator is considered abnormal, and the main controller reports an error and exits.

[0049] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0050] During the entire process of electrical stimulation discharge, a heartbeat frame is maintained between the main controller and the electric stimulator. The electric stimulator sends a heartbeat frame to the main controller at preset intervals to inform the main controller that the corresponding electric stimulator is in the bus online state, thereby ensuring the coordinated operation of the electric stimulation system.

[0051] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0052] After the insulator is powered on and receives the independent operation mode command, it enters the independent operation mode. At the same time, the insulator also tries to send a registration frame to the bus. Once it finds that it is connected to the main controller, it immediately exits the independent operation mode and enters the bus control mode.

[0053] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0054] The electric exciter has an independent logic control sequence. The parameters preset by the main controller are used as the output signal of the logic control. The output signal is the magnitude of the current. The input signal of the motion sensor is used as the input signal of the state change. According to the set action task, the electric exciter decomposes the action into different motion states.

[0055] The switching of the state is determined by a feedback input signal from a timer or a motion sensor.

[0056] The beneficial effects of the present disclosure are:

[0057] (1) The present invention connects multiple independent electric stimulators through a bus. Through digital collaborative work, a single main controller can control multiple independent electric stimulators, which makes it easy to complete specific required movement movements according to the patient's needs for different numbers of electric stimulation channels and different application scenarios.

[0058] (2) The plug-and-play functional electrical stimulation stimulator system disclosed in the present invention is scalable and modular. After the user completes the setting for a certain electrical stimulator, the patient can use the modular electrical stimulator independently, and the user can also continue to set up another electrical stimulator for the next patient, which solves the problem that the traditional electrical stimulation system can only serve one patient at a time.

[0059] (3) The single electric stimulator disclosed in the present invention is relatively small in size, which can improve the patient's comfort when the patient uses a certain electric stimulator independently to complete simple rehabilitation training tasks.

[0060] (4) When a patient independently uses an electric stimulator to complete simple rehabilitation training tasks, the built-in display module of the electric stimulator can display necessary setting information to assist the user or patient in completing simple rehabilitation training and improve the user experience of the patient when using the electric stimulator alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which constitute a part of the present disclosure, are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure.

[0062] Figure 1 It is a structural diagram of an embodiment of the plug-and-play functional electrical stimulation electric stimulator system disclosed in the present invention.

[0063] Figure 2 It is a structural diagram of an embodiment of the electric exciter disclosed in the present invention.

[0064] Figure 3 It is the working flow diagram of the host computer.

[0065] Figure 4 It is a synchronous timing flow chart. DETAILED DESCRIPTION

[0066] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs.

[0067] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0068] like Figure 1 As shown, a plug-and-play functional electrical stimulation electric stimulator system disclosed in the present invention includes:

[0069] A main controller connected to at least two series-connected electric actuators via a bus; the main controller is used to receive motion task files, execute the motion task files, and coordinate the output logic timing of the multi-channel electric actuators via the bus;

[0070] The motion task file is composed of control parameters set according to the degree of muscle damage of the patient; the control parameters include: the number of different states of the customizable state machine corresponding to the functional training task, the trigger conditions required for state transition, and the functional electrical stimulation output parameters of each state.

[0071] In one or more embodiments, any two electric actuators also communicate with each other via a bus.

[0072] The present disclosure designs the main controller and the electric stimulator in a bus communication mode, and realizes the design of a plug-and-play functional electric stimulation system through the bus.

[0073] In the present disclosure, the main controller and the electric stimulator realize digital communication between the main controller and the electric stimulator through the CAN bus. The main controller stores the setting parameters from the upper computer, and the main controller can realize the setting and modification of some parameters. The main controller also serves as the core of the bus controller to realize parameter setting, logic control, timing synchronization, etc. of the electric stimulator mounted on the bus.

[0074] In one or more embodiments, the main controller is connected to a host computer, and the host computer is used to form a motion task file and send it to the main controller.

[0075] Specifically, the main controller and the host computer can communicate with each other via USB.

[0076] In one or more embodiments, the main controller is connected to a mobile terminal, and the mobile terminal is used to form a motion task file and send it to the main controller.

[0077] The mobile terminal may be a mobile phone, a laptop computer, or other mobile devices with communication functions.

[0078] Specifically, the mobile terminal can communicate with the main controller via Bluetooth.

[0079] In the specific implementation, the controller can use ST (STMicroelectronics)'s STM32F405 controller as the main control chip. The controller belongs to the cortex-M4 processor and has an FPU (hardware floating-point unit) to ensure the real-time and accuracy of the algorithm. The main controller is responsible for the scheduling of the entire system.

[0080] like Figure 2 As shown, the electric exciter includes:

[0081] (1) a control module for providing timer control of the action when the electric exciter operates independently;

[0082] In the specific implementation, the control module uses ST's STM32F072 controller as the CPU. The controller belongs to the cortex-M0 processor and has an independent CAN2.0 controller, which can facilitate bus connection.

[0083] In this way, the electric exciter has an independent CPU control system and current stimulation excitation system, and can work independently from the main controller. When the electric exciter works alone, it only needs external power supply.

[0084] (2) a discharge module for generating a stimulation signal to stimulate the patient's muscle contraction;

[0085] (3) a storage module for storing corresponding functional electrical stimulation parameters;

[0086] (4) a data command communication module, which is used to receive output commands from the main controller and provide feedback information to the main controller;

[0087] (5) A power management module, which is used to provide energy for the current electric exciter to work, and is used to supply power to the next electric exciter in series when multiple electric exciters are connected in series.

[0088] Among them, the power management module is responsible for generating corresponding power to the CPU and peripheral logic circuits, and the electrical stimulation generating circuit, respectively generating 3.3V power to supply the CPU control module, display, buttons, etc., and generating an adjustable high-voltage circuit for the electrical stimulation generating circuit.

[0089] Specifically, the electric stimulator has an internal independent memory FLASH. All the action tasks and other required parameters of the electric stimulator are stored in the internal FLASH. After the device is powered on, it can enter the independent operation mode by setting the button. At the same time, the electric stimulator will also try to send a registration frame to the bus. Once it finds that it is connected to the main controller, it will immediately exit the independent operation mode and enter the bus control mode. At the same time, the user will be informed of the current status on the display module.

[0090] Among them, the functional electrical stimulation parameters include: upslope time, peak value, downslope time and delay time setting parameters.

[0091] The setting command includes setting new ramp-up time, peak value, ramp-down time, delay time, etc.

[0092] The feedback information includes the number of electric exciters connected in series, etc.

[0093] In one or more embodiments, the electrostimulator further includes a display module for displaying basic parameter information, such as the name of the affected muscle.

[0094] In one or more embodiments, the electrical stimulator further includes: a boost circuit, which is used to increase the voltage value of the stimulation signal generated by the discharge module to stimulate the patient's muscle contraction to a preset voltage value.

[0095] For example: The CPU adjusts the resistance value of the digital potentiometer according to the required current size to increase its voltage to an appropriate value. For example, the current required for forearm muscle movement is 30mA (current duration is 30us, current stimulation rate is 25Hz). To drive a current of 30mA, the voltage of the boost circuit needs to be increased to 10V. If the current required for upper arm muscle movement is 50mA (current duration is 50us, current stimulation rate is 25Hz), then the voltage of the boost circuit needs to be adjusted to about 28V to output sufficient 50mA current.

[0096] In one or more embodiments, the electrical stimulator further includes: a constant current source circuit, which is used to keep the stimulation signal that stimulates the patient's muscle contraction constant.

[0097] Specifically, electric current stimulation of muscles requires that the stimulation current is constant. The present invention adopts a voltage-controlled constant current source circuit, which outputs the analog voltage value Vdac through the analog output DAC of the CPU. Vdac is input to the input end of the operational amplifier, and the operational amplifier drives the transistor to generate a current corresponding to Vdac. When changing the electric stimulation current, it is only necessary to change the analog output value Vdac of the CPU.

[0098] In one or more embodiments, the electric exciter also includes: a discharge protection circuit, which is used to monitor the voltage and current to prevent the voltage from being too high or the current from being too large. Through the comparator circuit, when the voltage is too high, the comparator output is reversed, notifying the control module to immediately shut down the voltage output.

[0099] Specifically, the sampling value is amplified by the operational amplifier through the current sampling circuit and then sent to the ADC pin of the CPU for digital processing. The obtained value is used for feedback comparison of the output current on the one hand, and for monitoring the current to prevent excessive current on the other hand. When the current exceeds the specified value, the current output is immediately shut down.

[0100] In one or more embodiments, a motion sensor is also integrated inside the electric exciter, which transmits the angle changes it collects to the control module, and determines the execution status of the current action in the control module, forming a closed-loop feedback system to coordinate and complete a complete action.

[0101] For example, whether the degree of arm bending reaches the set degree, thus forming a closed-loop feedback system to coordinate and complete a complete movement.

[0102] In one or more embodiments, because it is required that the charge injection and charge outflow of the same group of muscles should be consistent within any time period, the present disclosure designs the discharge module as a symmetrical pulse generating circuit, which is responsible for generating pulse currents with opposite positive and negative directions to ensure that the amount of charge injected into and out of the stimulated muscles is equal.

[0103] The present invention discloses a method for operating a plug-and-play functional electrical stimulation electrostimulator system, comprising:

[0104] After the main controller is powered on, it reads the parameter information in its own memory and waits for new parameters to be set or for the default training task to be started. If no parameters are set or a new training task is started, the main controller enters the standby state;

[0105] During standby mode, the main controller communicates with each electric stimulator according to the ID of the inserted electric stimulator and the set parameters to determine their respective working states and working sequences.

[0106] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0107] During the standby process or working process, once a new electric activator is connected to the system, the main controller stops and enters the standby state; after receiving the login registration command sent by the electric activator, the main controller assigns a new action task to the inserted electric activator and reads whether there is an action task for the newly inserted electric activator in the memory. If so, the user is prompted to select the corresponding action task; otherwise, the user is prompted to re-edit the action task and the system will run according to the newly edited action task. Figure 3 shown.

[0108] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0109] When the main controller is in operation, if the stop button is pressed, the main controller will immediately stop the output of each electric exciter through a command.

[0110] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0111] When the main controller is in operation, if an electric actuator is unplugged or disconnected from the bus, the main controller immediately enters the standby state and prompts the user to unplug or update the action task.

[0112] In one or more embodiments, in order to ensure that the current has only one injection direction and injection muscle position at the same time, to achieve the timing synchronization of the timing point stimulation, and to ensure that the time synchronization error of each electric stimulator is within a preset range (for example: 0.1ms), the synchronous timing logic control method used is as follows: Figure 4 As shown, the specific process is:

[0113] The main controller detects and ensures that all the electric actuators required for the current action task have been registered and connected to the bus and are working normally;

[0114] The main controller issues the action task to each electric actuator according to the action task, and configures and modifies the corresponding parameters;

[0115] The main controller sends a timing correction frame via a broadcast command and waits for each electro-stimulator to reply with a correction confirmation frame. The main controller records the delay correction while waiting for the electro-stimulator to reply:

[0116] If the delay is less than or equal to the preset threshold (for example, 100us), the timing synchronization is considered normal, and a timing correction completion frame is sent back to the corresponding electric stimulator. After receiving the timing correction completion frame, the electric stimulator exits the timing synchronization process and enters normal standby mode.

[0117] If the delay exceeds a preset threshold (eg, 100 μs), it is considered that the synchronization is abnormal, and the timing correction frame is resent until each electric exciter is synchronized normally.

[0118] Among them, the CAN bus is a preemptive communication mode, and the main controller has the highest priority, so it can preempt the bus control.

[0119] Because the timing correction is a broadcast frame, each electric stimulator receives the timing correction frame at the same time, and then the electric stimulator replies with a timing correction confirmation frame to the main controller. The timing correction confirmation frame replied by the electric stimulator includes the time interval between the start of timing when the timing correction frame is received and the reply of the timing correction confirmation frame. After receiving the timing correction confirmation frame, the main controller compares it with its own delay.

[0120] In one or more embodiments, a threshold value (e.g., 20 times) for the number of times each electric stimulator repeatedly attempts synchronization is also set in the main controller. If the threshold value (e.g., 20 times) is exceeded, the timing of the electric stimulator is considered abnormal, and the main controller reports an error and exits.

[0121] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0122] A heartbeat frame is maintained between the main controller and the electric stimulator during the entire process of electric stimulation discharge. The electric stimulator sends a heartbeat frame to the main controller at preset intervals (for example, 1ms) to inform the main controller that the corresponding electric stimulator is in the bus online state, thereby ensuring the coordinated operation of the electric stimulation system.

[0123] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0124] After the insulator is powered on and receives the independent operation mode command, it enters the independent operation mode. At the same time, the insulator also tries to send a registration frame to the bus. Once it finds that it is connected to the main controller, it immediately exits the independent operation mode and enters the bus control mode.

[0125] In one or more embodiments, the operating method of the plug-and-play functional electrical stimulation electrostimulator system further includes:

[0126] The electric exciter has an independent logic control sequence. The parameters preset by the main controller are used as the output signal of the logic control. The output signal is the magnitude of the current. The input signal of the motion sensor is used as the input signal of the state change. According to the set action task, the electric exciter decomposes the action into different motion states.

[0127] The switching of the state is determined by a feedback input signal from a timer or a motion sensor.

[0128] For example, to control the forearm lifting process, in the first state, the biceps are stimulated for 30 μs to lift the forearm upward, while the triceps are not stimulated. During the lifting process, the motion sensor obtains the angle signal of the movement. When the bending angle of the forearm relative to the upper arm reaches 60 degrees, the second state is entered.

[0129] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A plug-and-play functional electrical stimulation electric stimulator system, characterized in that: include: A main controller connected to at least two series-connected electric actuators via a bus; the main controller is used to receive motion task files, execute the motion task files, and coordinate the output logic timing of the multi-channel electric actuators via the bus; The exercise task file is composed of control parameters set according to the degree of muscle damage of the patient; the control parameters include: the number of different states of the customizable state machine corresponding to the functional training task, the trigger conditions required for state transitions, and the functional electrical stimulation output parameters of each state; During standby mode, the main controller communicates with each electric stimulator according to the ID of the inserted electric stimulator and the set parameters to determine their respective working status and working sequence; During standby or operation, if a new electric actuator is connected to the system, the main controller shuts down and enters standby mode. After receiving the login and registration command from the electric actuator, the main controller assigns a new action task to the inserted electric actuator and checks whether an action task for the newly inserted electric actuator already exists in the memory. If so, the user is prompted to select the corresponding action task. Otherwise, the user is prompted to re-edit the action task and the system will run according to the newly edited action task. During the entire process of electrical stimulation discharge, a heartbeat frame is maintained between the main controller and the electrical stimulator. The electrical stimulator sends a heartbeat frame to the main controller at preset intervals to inform the main controller that the corresponding electrical stimulator is in the bus online state, thereby ensuring the coordinated operation of the electrical stimulation system. After the electric stimulator is powered on, it enters the independent operation mode after receiving the independent operation mode command. At the same time, the electric stimulator also tries to send a registration frame to the bus. Once it finds that it is connected to the main controller, it will immediately exit the independent operation mode and enter the bus control mode. The bus is CAN bus, which is a preemptive communication mode. The main controller has the highest priority and preempts the bus control. To ensure that the current has only one injection direction and muscle position at the same time, to achieve the timing synchronization of sequential electrical stimulation and to ensure that the time synchronization error of each electrical stimulator is within the preset range, the specific process is as follows: The main controller detects and ensures that all the electric actuators required for the current action task have been registered and connected to the bus and are working normally; The main controller issues the action task to each electric actuator according to the action task, and configures and modifies the corresponding parameters; The main controller sends a timing correction frame via a broadcast command and waits for each electro-stimulator to reply with a correction confirmation frame. The main controller records the delay correction while waiting for the electro-stimulator to reply: If the delay is less than or equal to the preset threshold, the timing synchronization is considered normal, and a timing correction completion frame is sent back to the corresponding electric stimulator. After receiving the timing correction completion frame, the electric stimulator exits the timing synchronization process and enters normal standby mode. If the delay exceeds the preset threshold, it is considered that the synchronization is abnormal, and the timing correction frame is resent until every electric exciter is synchronized normally; The main controller is also provided with a threshold value for the number of times each electric stimulator repeatedly attempts synchronization. If the threshold value is exceeded, the timing of the electric stimulator is considered abnormal and the main controller reports an error and exits.

2. A plug-and-play functional electrical stimulation electric stimulator system as claimed in claim 1, characterized in that: The electric exciter comprises: A control module for providing timer control of the action when the electric exciter works independently; a discharge module for generating a stimulation signal for stimulating muscle contraction of the patient; A storage module, configured to store corresponding functional electrical stimulation parameters; A data command communication module, which is used to receive output commands from the main controller and provide feedback information to the main controller; The power management module is used to provide energy for the current electric exciter to work, and is used to supply power to the next electric exciter in series when multiple electric exciters are connected in series.

3. The plug-and-play functional electrical stimulation electric stimulator system according to claim 1, characterized in that: Any two electric actuators can also communicate via the bus.

4. The plug-and-play functional electrical stimulation electric stimulator system according to claim 1, characterized in that: The main controller is connected to a host computer, and the host computer is used to form a motion task file and send it to the main controller; Or the main controller is connected to a mobile terminal, and the mobile terminal is used to form a motion task file and send it to the main controller.

5. The plug-and-play functional electrical stimulation electric stimulator system according to claim 2, characterized in that: The electric exciter further includes: a display module for displaying basic parameter information; Or the electrical stimulator further includes: a boost circuit, which is used to increase the voltage value of the stimulation signal generated by the discharge module to stimulate the patient's muscle contraction to a preset voltage value; Or the electrical stimulator further comprises: a constant current source circuit for maintaining a constant stimulation signal for stimulating muscle contraction of the patient; Or the electric exciter further includes: a discharge protection circuit, which is used to monitor the voltage and current to prevent the voltage from being too high or the current from being too large. When the voltage is too high, the comparator output is reversed through the comparator circuit, notifying the control module to immediately shut down the voltage output; Alternatively, a motion sensor is integrated inside the electric exciter, which transmits the angle changes it collects to the control module, which determines the execution status of the current action, forming a closed-loop feedback system to coordinate and complete a complete action.

6. The plug-and-play functional electrical stimulation electric stimulator system according to claim 2, characterized in that: The discharge module is a symmetrical pulse generating circuit, which is responsible for generating pulse currents with opposite positive and negative directions to ensure that the amount of charge injected into and out of the stimulated muscles is equal.

7. A method for operating a plug-and-play functional electrical stimulation electric stimulator system according to any one of claims 1 to 6, characterized in that: include: After the main controller is powered on, it reads the parameter information in its own memory and waits for new parameters to be set or for the default training task to be started. If no parameters are set or a new training task is started, the main controller enters the standby state.

8. The operating method of the plug-and-play functional electrical stimulation electric stimulator system according to claim 7, characterized in that: The working method of the plug-and-play functional electrical stimulation electric stimulator system further includes: When the main controller is in operation, if the stop button is pressed, the main controller will immediately stop the output of each electric exciter through a command.

9. The operating method of the plug-and-play functional electrical stimulation electric stimulator system according to claim 7, characterized in that: The working method of the plug-and-play functional electrical stimulation electric stimulator system further includes: When the main controller is in operation, if an electric actuator is unplugged or disconnected from the bus, the main controller immediately enters the standby state and prompts the user to unplug or update the action task.

10. The operating method of the plug-and-play functional electrical stimulation electric stimulator system according to claim 7, characterized in that: The working method of the plug-and-play functional electrical stimulation electric stimulator system further includes: The electric exciter has an independent logic control sequence. The parameters preset by the main controller are used as the output signal of the logic control. The output signal is the magnitude of the current. The input signal of the motion sensor is used as the input signal of the state change. According to the set action task, the electric exciter decomposes the action into different motion states. The switching of the state is determined by a feedback input signal from a timer or a motion sensor.

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