A multi-joint limb rehabilitation training system and method

Abstract

The application relates to a multi-joint limb rehabilitation training system and method, which comprises a multi-channel sensing leading device connected with a muscle mechanical movement auxiliary device; the multi-channel sensing leading device comprises a stimulus generator electrically connected with a sensing prompt electrode array, the stimulus generator is used for generating corresponding neuromuscular electric stimulation signals according to electromyographic signals and sending the neuromuscular electric stimulation signals to the sensing prompt electrode array; the muscle mechanical movement auxiliary device comprises a wearable device and an auxiliary movement device arranged in the wearable device, and the auxiliary movement device is used for assisting the movement of a required part of the wearable device according to an auxiliary movement signal. The multi-joint limb rehabilitation training system and method provided by the application can accurately conduct coordinated training on a trainee, improve the reliability of the rehabilitation training of the trainee, and meet the actual application requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of auxiliary rehabilitation training equipment, in particular to a multi-joint limb rehabilitation training system and method. BACKGROUND

[0002] Rehabilitation training refers to physical activities after injury that are beneficial to recovery or improvement of function. Generally, patients who have been in bed for a long time often need to perform some rehabilitation training through a robot to exercise the body and restore normal function.

[0003] Currently, the robot for rehabilitation training of the trainee mainly provides external mechanical support to the corresponding joint or limb through an electromechanical system combined with electricity and machinery to help the trainee's paralyzed limb to achieve the specified action and the corresponding motion trajectory, such as an exoskeleton and a flexible robot.

[0004] However, during training, the robot (such as an exoskeleton or a flexible robot) can correct the deviation of the trainee's action from the motion trajectory, but it cannot prompt the trainee to use which muscles in the process to complete the standard action. Moreover, the current upper limb robot is a single-joint auxiliary system, which lacks the perception and guidance of different muscles at each phase. Therefore, it is still not possible to achieve coordinated action of the elbow, wrist, and fingers. SUMMARY

[0005] In order to solve the above problems, the purpose of the present application is to provide a multi-joint limb rehabilitation training system and method capable of accurately and coordinately training the trainee and improving the reliability of the trainee's rehabilitation training.

[0006] A multi-joint limb rehabilitation training system, comprising a multi-channel perception and guidance device connected with a muscle mechanical movement auxiliary device;

[0007] The multi-channel perception and guidance device comprises a stimulus generator electrically connected with a perception and prompting electrode array, and the stimulus generator is used to generate corresponding neuromuscular electrical stimulation signals according to electromyographic signals and send them to the perception and prompting electrode array.

[0008] The muscle mechanical movement auxiliary device comprises a wearable device and an auxiliary movement device arranged inside the wearable device, and the auxiliary movement device is used to assist the movement of the required part of the wearable device according to an auxiliary movement signal.

[0009] In addition, the multi-joint limb rehabilitation training system provided by the present application can also have the following additional technical features:

[0010] Further, the system further comprises a control device electrically connected with the muscle mechanical movement assisting device and the multi-channel sensing leading device respectively, and the control device is used for sending the generated electromyography signals and assisting movement signals to the multi-channel sensing leading device and the muscle mechanical movement assisting device respectively.

[0011] Further, the wearable device comprises a shoulder strap and a glove respectively arranged at two ends of the sleeve, the shoulder strap is integrally formed with the sleeve, and an adjusting structure for adjusting the length of the shoulder strap is arranged at the end of the shoulder strap; the glove comprises a hand part and a finger sleeve arranged on one side surface of the hand part.

[0012] Further, the hand part comprises a fixing structure, a palm structure and a finger structure connected with the palm structure through a connecting structure, and the connecting structure is in a J shape.

[0013] Further, the assisting movement device comprises a first air bag and a second air bag arranged in the sleeve and the glove respectively, input / output ends of the first air bag and the second air bag are connected with an air pump through a gas conveying pipeline, and a pressure sensor and an electromagnetic valve electrically connected with the control device are arranged on the gas conveying pipeline.

[0014] Another embodiment of the present application provides a multi-joint limb rehabilitation training method, which solves the problem that although the existing robot can correct the deviation of the action of the trainee from the movement track, it cannot prompt the trainee to use which muscles in the process to complete the standard action, so that the coordinated action of the elbow, wrist and finger cannot be realized.

[0015] The multi-joint limb rehabilitation training method according to the embodiment of the present application is applied to the multi-joint limb rehabilitation training system described above, and the method comprises:

[0016] Obtaining electromyography signals on the skin surface of the trainee;

[0017] Generating a neuromuscular electrical stimulation signal according to the electromyography signals and sending the neuromuscular electrical stimulation signal to the sensing and prompting electrode array, so that the sensing and prompting electrode array performs neuromuscular electrical stimulation on the current muscle group to prompt and / or assist the movement of the muscle group;

[0018] Generating an assisting movement signal according to the electromyography signals and sending the assisting movement signal to the assisting movement device, so that the assisting movement device performs assisting movement on the part of the wearable device required to move.

[0019] In addition, the multi-joint limb rehabilitation training method according to the present application can also have the following additional technical features:

[0020] Further, the method of generating an assisting movement signal according to the electromyography signals and sending the assisting movement signal to the assisting movement device comprises:

[0021] According to the auxiliary movement signal, the priority movement joint model and the joint movement model, the joint and direction of the required movement are determined.

[0022] According to the joint, direction and auxiliary movement model of the required movement, auxiliary movement information of the joint of the required movement is obtained, and the auxiliary movement device is issued according to the auxiliary movement information according to the auxiliary movement signal.

[0023] Further, the priority movement joint model and the joint movement model are respectively:

[0024]

[0025]

[0026] Wherein, M i (t) is the normalized muscle i of the joint movement muscle signal amplitude; w i is the preset weight value of i muscle;<w i |M i (t) | is the set of all muscle signals for joint movement; y i (t) is the real-time amplitude of the subject's subjective contraction of muscle i; is the maximum value of the subject's subjective contraction of muscle i; M ext (t) is the real-time muscle signal of the joint extensor after normalization and absolute value; M fle (t) is the current joint flexor muscle signal.

[0027] Further, the auxiliary movement model is:

[0028]

[0029] Wherein, Pj(t) is the real-time air pressure inside the current joint j; the threshold is the minimum muscle output required to stably obtain mechanical assistance; M i (t) is the normalized muscle i of the joint movement muscle signal amplitude; is the maximum value of the auxiliary movement output by the auxiliary movement device; is the minimum value of the auxiliary movement output by the auxiliary movement device

[0030] Further, the stimulation model for generating neuromuscular electrical stimulation signals according to the muscle signal is:

[0031]

[0032] Wherein, S i (t) is the real-time perceived stimulation intensity generated by the stimulation generator on muscle i; S iMaxTo perceive the minimum perceptible stimulation intensity at which the electrode array produces a perceptible stimulation on the muscle; S iMin To perceive the maximum perceptible stimulation intensity at which the electrode array produces a perceptible stimulation on the muscle, and the intensity does not cause the muscle to actively contract.

[0033] The multi-joint limb rehabilitation training system and method provided by the application, through the muscle mechanical movement auxiliary device and the multi-channel perception leading device which are respectively electrically connected with the control device; the multi-channel perception leading device includes a stimulus generator which is electrically connected with a perception prompting electrode array, the stimulus generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals issued by the control device, and sending the neuromuscular electrical stimulation signals to the perception prompting electrode array; the muscle mechanical movement auxiliary device includes a wearable device and an auxiliary movement device arranged in the wearable device, and the auxiliary movement device is used for assisting the movement of the required part of the wearable device according to the auxiliary movement signals issued by the control device. The application determines the auxiliary movement information of the required joint by obtaining the electromyographic signals of the skin surface of the trainee, and according to the auxiliary movement signals, the priority movement joint model, the joint movement model and the auxiliary movement model obtained from the electromyographic signals, and makes the auxiliary movement device assist the movement of the required joint of the wearable device according to the auxiliary movement signals, so as to realize the accurate coordinated training of the trainee and improve the reliability of the rehabilitation training of the trainee. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is the overall structure block diagram of the multi-joint limb rehabilitation training system in the first embodiment of the application;

[0035] Figure 2 To Figure 1 The structure block diagram of the multi-channel leading perception device in the first embodiment of the application;

[0036] Figure 3 To Figure 1 The structure block diagram of the muscle mechanical movement auxiliary device in the first embodiment of the application;

[0037] Figure 4 To Figure 3 The structure block diagram of the wearable device in the first embodiment of the application;

[0038] Figure 5 To Figure 3 The structure block diagram of the auxiliary movement device in the first embodiment of the application;

[0039] Figure 6 To Figure 4 The connection structure schematic diagram of the shoulder belt and the sleeve in the first embodiment of the application;

[0040] Figure 7 To Figure 6structure diagram of another view of the glove;

[0041] Figure 8 schematic diagram of auxiliary movement of the first air bag to the joint;

[0042] Figure 9 schematic diagram of another view of the glove; Figure 4 structure diagram of the glove;

[0043] Figure 10 schematic diagram of another view of the glove; Figure 8 structure diagram of another view of the glove;

[0044] Figure 11 schematic diagram of the glove in the fourth embodiment;

[0045] Figure 12 schematic diagram of auxiliary movement of the second air bag to the hand;

[0046] Figure 13 schematic diagram of another view of the glove; Figure 1 structure diagram of the control device;

[0047] Figure 14 flow chart of the method for rehabilitation training of the multi-joint limb in the second embodiment of the present application;

[0048] Figure 15 schematic diagram of another view of the glove; Figure 14 specific flow chart of step S30 in the second embodiment;

[0049] Explanation of main element symbols:

[0050] Control device 10 Multi-channel sensory guidance device 20 Stimulus generator 21 Sensory cue electrode array 22 Muscle mechanical movement assistance device 30 Wearable device 31 Shoulder strap 311 Sleeve 312 Glove 313 Hand 313a Finger sleeve 313b Assistive movement device 32 First air bladder 321 Second air bladder 322 Air pump 323

[0051] The following detailed description will further describe the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0052] In order to make the objectives, features and advantages of the present application more apparent, the following will describe the specific embodiments of the present application in detail in conjunction with the drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0053] It is to be noted that when an element such as a layer, region or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0054] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0055] Please refer to Figures 1 to 10 The multi-joint limb rehabilitation training system provided by the embodiment of the present application comprises a multi-channel perception leading device 20 and a muscle mechanical movement assisting device 30 which are electrically connected with a control device 10 respectively. The control device 10 is used for sending the generated electromyographic signals and auxiliary movement signals to the multi-channel perception leading device 20 and the muscle mechanical movement assisting device 30 respectively.

[0056] Further, the control device 10 comprises a bottom shell and a top cover which are engaged with each other, and a main circuit board, a battery pack for supplying power to the main circuit board and a switch button for controlling the opening and closing of the main circuit board are arranged in a receiving space formed by the bottom shell and the top cover. The main circuit board is a cortex-M3 core board.

[0057] Further, the multi-channel perception leading device 20 comprises a stimulus generator 21 which is electrically connected with a perception prompt electrode array 22.

[0058] Specifically, the sensing electrode array 22 is electrically connected to the stimulation generator 21 through external wires, and the stimulation generator 21 is electrically connected to the main circuit board. The sensing electrode array 22 is attached to the skin of the training part of the trainee and can obtain the muscle electrical signal from the skin surface of the trainee. The stimulation generator 21 is used to generate a corresponding neuromuscular electrical stimulation signal according to the muscle electrical signal issued by the control device 10, and send the neuromuscular electrical stimulation signal to the sensing electrode array 22, so that the sensing electrode array 22 gives the muscle group of the trainee a sensory stimulation and / or motion auxiliary stimulation. Specifically, in implementation, the sensing electrode array 22 can be arranged at the biceps brachii and triceps brachii of the upper arm of the trainee, and can also be arranged at the flexor muscle group and extensor muscle group of the forearm of the trainee.

[0059] It can be understood that through the arrangement of the multi-channel leading sensing device 20, the corresponding skin positions of the target muscle groups of the trainee can be given sensory stimulation and / or stimulation auxiliary motion, that is, the positions of the muscles required for the user to move are informed to the trainee, or the stimulation auxiliary motion is performed by enhancing and stimulating the contraction of the related muscles. In addition, the sensing electrode array 22 can not only give sensory and / or auxiliary motion stimulation, but also obtain muscle electrical signals from the corresponding skin surface as input of the control device 10, for real-time control of the mechanical motion auxiliary device and the auxiliary force size given by the stimulation generator 21.

[0060] Further, the muscle mechanical motion auxiliary device 30 includes a wearable device 31 and an auxiliary motion device 32 arranged inside the wearable device 31. The auxiliary motion device 32 is used to assist the motion of the required part of the wearable device 31 according to the auxiliary motion signal.

[0061] Specifically, the wearable device 31 includes a shoulder strap 311 and a glove 313 arranged at both ends of a sleeve 312 respectively. The shoulder strap 311 is integrally formed with the sleeve 312, and the end of the shoulder strap 311 is provided with an adjusting structure for adjusting the length of the shoulder strap 311. The shoulder strap 311 is arranged at the elbow of the sleeve 312 and integrally formed with the elbow, so as to improve the reliability of the connection between the shoulder strap 311 and the sleeve 312. The two ends of the shoulder strap 311 are not limited to adjusting the length by magic tape, buckle or magnetic block structure. One side of the sleeve 312 close to the elbow pit is provided with a sleeve to accommodate the arm and install the auxiliary motion device 32. The two ends of the sleeve 312 can be adjusted in tightness by magic tape, that is, the magic tape at one end is adjusted in the clockwise direction, and the magic tape at the other end is adjusted in the counterclockwise direction, and when both ends are opened, it is in Z shape. The cloth bag containing the air bag is made of elastic material such as Lycra fabric, but is not limited thereto.

[0062] Specifically, the glove 313 comprises an integrally formed hand part 313a and a finger sleeve 313b arranged on one side surface of the hand part 313a. The hand part 313a comprises a fixing structure, a palm structure and a finger structure connected with the palm structure through a connecting structure, and the connecting structure is in a J shape, i.e. one side and one surface of the palm structure are respectively provided with fixing structures for fixing four fingers and the thumb. The fixing structure can be fixed on the wrist of the trainee through a magic tape, and the connecting part can be contracted and stretched when the trainee performs the hand part 313a gripping, i.e. the palm structure, the finger structure and the connecting structure are in a communication structure, and can make the palm contract and stretch under the action of the auxiliary movement device accommodated therein. It can be understood that in other embodiments, a support structure perpendicular to the palm structure is arranged below the palm structure of the hand part 313a of the glove 313, for making the hand of the trainee open under the action of the auxiliary movement device accommodated therein.

[0063] Further, the auxiliary movement device 32 comprises a first air bag 321 and a second air bag 322 arranged in the inner part of the sleeve 312 and the glove 313 respectively, and the input / output end of the first air bag 321 and the second air bag 322 is connected with a gas pump 323 through a gas pipeline, and a pressure sensor and a solenoid valve electrically connected with the control device 10 are arranged on the gas pipeline. The gas pump 323 is arranged in the accommodation space formed by the bottom shell and the upper cover of the control device 10, and is electrically connected with the main circuit board of the control device 10.

[0064] Specifically, the first air bag 321 is arranged on one side of the inner side of the sleeve 312 close to the elbow, and the second air bag 322 is arranged on one side of the inner side of the glove 313 close to the palm and the wrist. Through the design of the pressure sensor and the solenoid valve, the control device 10 can control the working state of the solenoid valve and the gas pump 323 according to the pressure of the gas in the glove 313 and the sleeve 312 on each muscle group. For example, the flow rate and the flow velocity of the gas at the interface between the gas pump 323 and each gas pipeline, and the opening degree of the solenoid valve are adjusted to adjust the flow rate and the flow velocity of the gas flowing into the inlet of each air bag in the gas pipeline. The solenoid valve is a flow solenoid valve.

[0065] In the implementation, the sensing electrode array is attached to the skin surface of the biceps brachii, triceps brachii, extensor and flexor muscles of the forearm, and the skin surface electromyogram of the muscles can be collected and transmitted to the main circuit board of the control device through external wires. The control device analyzes the collected electromyogram to know the action awareness of the upper limb of the trainee, and sends a command to start the air pump in the auxiliary movement device to generate gas, which inflates the air bags in the sleeve and glove in sequence through the connected gas pipeline, thereby achieving the purpose of sequentially assisting the trainee to open the arms and open the palms. At the same time that the air pump in the auxiliary movement device inflates the air bag, low-frequency current is sent according to the command and transmitted to the sensing electrode array through external wires to stimulate the corresponding biceps brachii, triceps brachii, extensor and flexor muscles of the forearm, prompting the trainee to voluntarily contract the corresponding muscles; or by sending enhanced stimulating current, the corresponding muscles contract to assist the trainee to complete the extension and opening and bending action of the elbow and wrist and finger joints. It can be understood that the collection of electromyogram, the control of air pump inflation and low-frequency electric stimulation in the present application can also be independently operated and used to assist the upper arm or forearm to move.

[0066] The above process is started by the skin surface electromyogram collected by the corresponding muscles of the trained upper limb, and after analysis by the control device, a command is sent to operate the corresponding air pump to the air bag of the sleeve and glove, and at the same time, low-frequency current is provided to stimulate the corresponding muscles, thereby cooperatively completing the sequential extension and opening and bending action of the elbow and wrist and finger joints of the trained upper limb.

[0067] The above multi-joint limb rehabilitation training system can also be used for training of other different positions of the trainee's body, such as the knee joint and ankle joint of the lower limbs.

[0068] The multi-joint limb rehabilitation training system provided by the application is electrically connected with the muscle mechanical movement auxiliary device and the multi-channel sensing leading device through the control device; the multi-channel sensing leading device comprises a stimulus generator electrically connected with a sensing and prompting electrode array, the stimulus generator is used for generating corresponding neuromuscular electric stimulation signals according to the electromyographic signals issued by the control device, and the neuromuscular electric stimulation signals are sent to the sensing and prompting electrode array; the muscle mechanical movement auxiliary device comprises a wearable device and an auxiliary movement device arranged in the wearable device, and the auxiliary movement device is used for assisting the movement of the required part of the wearable device according to the auxiliary movement signals issued by the control device. The auxiliary movement information of the required joint movement is determined according to the auxiliary movement signals, the priority movement joint model, the joint movement model and the auxiliary movement model obtained from the electromyographic signals of the skin surface of the trainee, and the auxiliary movement device assists the movement of the required joint of the wearable device according to the auxiliary movement signals, so that the trainee is accurately and coordinately trained, and the reliability of the rehabilitation training of the trainee is improved.

[0069] Please refer to Figure 11 The multi-joint limb rehabilitation training method provided by the embodiment of the application is applied to the multi-joint limb rehabilitation training system, and the method comprises steps S10-S30.

[0070] Step S10: acquiring electromyographic signals of the skin surface of a trainee.

[0071] Step S20: generating neuromuscular electric stimulation signals according to the electromyographic signals and sending the neuromuscular electric stimulation signals to a sensing and prompting electrode array, so that the sensing and prompting electrode array assists the neuromuscular electric stimulation movement of the current muscle group.

[0072] Further, the stimulation model for generating the neuromuscular electric stimulation signals according to the electromyographic signals is as follows:

[0073]

[0074] Wherein, S i (t) is the real-time sensing stimulation intensity generated by the stimulus generator on the muscle i; S iMax is the minimum sensing stimulation intensity of the sensing and prompting electrode array for generating the sensing stimulation on the muscle, which can improve the excitability of the trainee to the paralyzed muscle and improve the training effect; S iMin is the maximum sensing stimulation intensity of the sensing and prompting electrode array for generating the sensing stimulation on the muscle, and the intensity does not cause the muscle to actively contract.

[0075] The electromyography signal of the skin surface of the trainee is acquired by the perception prompting electrode array, and the electromyography signal of the current muscle group is determined according to the obtained electromyography signal and the stimulation model. The stimulation information of the current muscle group is contained in the electromyography signal, and the corresponding neuromuscular electrical stimulation signal can be generated by the stimulation generator and sent to the perception prompting electrode array to stimulate and / or stimulate the current muscle group. The present application generates stimulation current of different intensities to make the current muscle group contract to different degrees. Specifically, when the stimulation current generated is large enough, it will cause the contraction of the current muscle group, thereby realizing the stimulation of the current muscle group. When the stimulation current generated is general current, the perception of the current muscle group is prompted without causing the contraction of the current muscle group.

[0076] In step S30, the auxiliary movement signal is generated according to the electromyography signal and sent to the auxiliary movement device to make the auxiliary movement device assist the movement of the part of the wearable device.

[0077] Please refer to Figure 12 The method for generating the auxiliary movement signal according to the electromyography signal and sending it to the auxiliary movement device comprises:

[0078] In step 31, the joint and direction of the required movement are determined according to the auxiliary movement signal, the priority movement joint model and the joint movement model.

[0079] The priority movement joint model and the joint movement model are respectively:

[0080]

[0081]

[0082] Wherein, M i (t) is the normalized electromyography signal amplitude of muscle i for joint movement; w i is the preset weight value of muscle i; <w i |M i (t)| is the set of all electromyography signals for joint movement; y i (t) is the real-time amplitude of the subjective contraction of the trainee to muscle i; y iMax is the maximum value of the subjective contraction of the trainee to muscle i; M ext (t) is the real-time electromyography signal of the joint extensor muscle after normalization and absolute value taking; M fle (t) is the electromyography signal of the current joint flexor muscle.

[0083] As described above, by determining the joint and direction (such as extension or flexion) of the required movement according to the stimulation information, the priority joint movement model and the joint movement model, a more desirable and optimal training method and sequence is obtained to improve the reliability of the muscle training of the trainee and improve the satisfaction of the training experience of the trainee. It can be understood that in other embodiments of the present application, the muscle sound signal measured on the muscle contraction of the trainee, the intensity of the corresponding brain area signal (such as electroencephalogram, magnetoencephalogram) can also be used to represent the M i (t).

[0084] Step S32, obtaining auxiliary movement information of the required movement of the joint according to the joint, direction and auxiliary movement model of the required movement, and issuing the auxiliary movement signal according to the auxiliary movement information to the auxiliary movement device.

[0085] The auxiliary movement model is:

[0086]

[0087] Wherein, Pj(t) is the real-time air pressure inside the current joint j; the threshold is the minimum muscle output required to stabilize the mechanical assistance; M i (t) is the normalized electromyogram amplitude of the muscle i for joint movement; is the maximum value of the auxiliary movement output by the auxiliary movement device; is the minimum value of the auxiliary movement output by the auxiliary movement device.

[0088] As described above, by obtaining the auxiliary movement information of the required movement of the joint according to the joint, direction and auxiliary movement model of the required movement, the auxiliary movement device can assist the trainee in the required movement of the part according to the received auxiliary movement signal. And further improve the relevance, accuracy and reliability of the auxiliary movement. It can be understood that in other embodiments of the present application, the muscle sound signal measured on the muscle contraction of the trainee, the intensity of the corresponding brain area signal (such as electroencephalogram, magnetoencephalogram) can also be used to represent the M

[0089] The multi-joint limb rehabilitation training method provided by the application, through the muscle mechanical movement auxiliary device and the multi-channel sensing leading device which are respectively electrically connected with the control device, the multi-channel sensing leading device comprises a stimulus generator which is electrically connected with a sensing prompt electrode array, the stimulus generator is used for generating corresponding neuromuscular electrical stimulation signals according to the electromyographic signals issued by the control device, and the neuromuscular electrical stimulation signals are sent to the sensing prompt electrode array, the muscle mechanical movement auxiliary device comprises a wearable device and an auxiliary movement device arranged in the wearable device, and the auxiliary movement device is used for assisting the movement of the required part of the wearable device according to the auxiliary movement signals issued by the control device. The application obtains the electromyographic signals on the skin surface of the trainee, and determines the auxiliary movement information of the required joint according to the auxiliary movement signals, the priority movement joint model, the joint movement model and the auxiliary movement model, and makes the auxiliary movement device assist the movement of the required joint of the wearable device according to the auxiliary movement signals, so as to realize the accurate coordinated training of the trainee and improve the reliability of the rehabilitation training of the trainee.

[0090] It should be understood that, although each step in the above flowchart is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the above flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0091] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] The technical features of the above embodiments can be combined in any manner, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present specification.

[0093] The above embodiments only express several implementation manners of the present application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the patent scope of the present application. It should be noted that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A multi-joint limb rehabilitation training system, characterized in that, The multi-channel sensing leading device is connected with the muscle mechanical movement assisting device. The multi-channel sensing leading device comprises a stimulation generator electrically connected with an array of sensing prompt electrodes, the stimulation generator being configured to generate corresponding neuromuscular electrical stimulation signals according to the electromyographic signals and send the neuromuscular electrical stimulation signals to the array of sensing prompt electrodes, so that the array of sensing prompt electrodes neuromuscularly stimulate the current muscle group, prompting and / or assisting the muscle group movement. The muscle mechanical movement assisting device comprises a wearable device and an assisting movement device arranged inside the wearable device, the assisting movement device being configured to generate assisting movement signals according to the electromyographic signals and assist the movement of a part of the wearable device required to move. The multi-joint limb rehabilitation training system further comprises a control device electrically connected with the muscle mechanical movement assisting device and the multi-channel sensing leading device, respectively, the control device being configured to send the generated electromyographic signals and assisting movement signals to the multi-channel sensing leading device and the muscle mechanical movement assisting device, respectively. The wearable device comprises shoulder straps and gloves arranged at two ends of a sleeve, respectively, the shoulder straps being integrally formed with the sleeve, and the end of each shoulder strap being provided with an adjusting structure for adjusting the length of the shoulder strap; and the glove comprises a hand part and a finger sleeve arranged on one side surface of the hand part. The hand part comprises a fixing structure, a palm structure, and a finger structure connected with the palm structure through a connecting structure, the connecting structure being in a J shape. The method for generating the assisting movement signals according to the electromyographic signals comprises: determining the joint and direction required to move according to the assisting movement signals, a priority movement joint model, and a joint movement model; obtaining assisting movement information for assisting the movement of the joint required to move according to the joint, direction, and assisting movement model required to move; The priority movement joint model and the joint movement model are as follows: Joint(t) = Max < w i | M i (t) |, where M i (t) is the normalized EMG amplitude of the muscle i for joint movement; w i is the preset weight value of muscle i; <w i | M i | is the set of all EMG signals for joint movement; y i (t) is the real-time amplitude of the subject's subjective contraction of muscle i; y iMax is the maximum value when the subject produces a subjective contraction of muscle i; M ext (t) is the real-time EMG signal of the joint extensor after normalization and taking the absolute value; M fle (t) is the current joint flexor EMG signal.

2. The multi-articulating limb rehabilitation training system of claim 1, wherein, The assisting movement device comprises first and second air bags arranged inside the sleeve and the glove, respectively, the input / output ends of the first and second air bags being connected with a gas pump through a gas pipeline, and the gas pipeline being provided with a pressure sensor and an electromagnetic valve electrically connected with the control device.

3. The multi-articulating limb rehabilitation training system of claim 1, wherein, The assisting movement model is as follows: where Pj(t) is the real-time air pressure inside the current joint j; threshold is the minimum muscle output required to steadily obtain mechanical assistance; M i (t) is the normalized electromyography signal amplitude of muscle i for joint movement; is the maximum value of the assistive motion output by the assistive motion device; is the minimum value of the assistive motion output by the assistive motion device.

4. The multi-articulating limb rehabilitation training system of claim 1, wherein, The stimulation model for generating the neuromuscular electrical stimulation signals according to the electromyographic signals is as follows: where S i (t) is the real-time perceptual stimulation intensity generated by the stimulation generator on muscle i; S iMax is the minimum perceptual stimulation intensity at which the perceptual cue electrode array generates a perceptible stimulation on the muscle; S iMin is the maximum perceptual stimulation intensity at which the perceptual cue electrode array generates a perceptible stimulation on the muscle, and this intensity does not cause the muscle to actively contract.

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