Myoelectric feedback electric stimulation control system and control method

Abstract

The present invention aims to solve the technical problems that in the current electromyographic biofeedback therapeutic instrument technical solutions, only one electrode is provided, which can only realize one function of electromyographic acquisition or electric stimulation pulse output, and two independent electrodes are provided, which cannot directly acquire the electromyographic signal when the electric stimulation pulse is output. The present invention provides an electromyographic feedback electric stimulation control system and a control method. The control system includes an electrode, an electric stimulation pulse module, a pulse sampling module, a signal preprocessing module, an electromyographic signal acquisition and processing module and a system control module. The electric stimulation pulse sampling module acquires the current electric stimulation signal according to a preset sampling ratio, and then eliminates the electric stimulation signal by subtraction operation on the signal acquired by the device. Through one electrode, electric stimulation pulse output and electromyographic acquisition input can be performed simultaneously, and the system setting is simpler.

Description

Technical Field

[0001] The invention belongs to a myoelectric feedback control system and method, and in particular relates to a myoelectric feedback electrical stimulation control system and a control method. Background Art

[0002] Normal human activities are controlled by the central nervous system of the human body, which transmits nerve impulse signals from the peripheral nervous system to the limb muscles, causing muscle contraction to complete the target action. At the same time, when the muscles contract, electrical signals are also generated and transmitted back to the human nervous system. After the central nervous system of the human body is damaged, such as common sudden cardiovascular and cerebrovascular diseases, the nervous system will be ischemic for a long time, which will cause local function reduction, damage or disappearance, resulting in corresponding motor function impairment, which is specifically manifested as weakened or complete loss of motor ability, such as paralysis and other symptoms. Clinical medicine has proven that the use of electromyography biofeedback therapy can promote the rehabilitation of patients with motor dysfunction. Electromyography biofeedback therapy refers to the use of special instruments and equipment to collect the electromyography signals of the patient's affected limb muscles, and the instrument gives the patient corresponding feedback information based on the signal, such as sound, image, current, vibration, etc.

[0003] The electromyographic biofeedback therapeutic device is a typical electromyographic biofeedback therapy medical device product (equipment), which can collect human electromyographic signals and output electrical stimulation pulses to the human body. The current technical solutions for this type of equipment are as follows: Figure 1 As shown, the electrode 01 is a part in contact with the human body, and is used to realize the electrical connection between the human body and the device; the function switching module 02 accepts the control of the system control module 05 to realize the switching between the electromyographic acquisition function and the electrical stimulation output function of the device; the electrical stimulation pulse module 03 accepts the control of the system control module 05 to generate a specific pulse signal; the electromyographic signal acquisition and processing module 04 acquires the electromyographic signal and sends it to the system control module 05; the system control module 05 controls the device to work and performs corresponding data processing according to the needs of the user. When the device needs to work in the electromyographic acquisition mode, the system control module 05 controls the function switching module 02 to connect the electrode 01 with the electromyographic signal acquisition and processing module 04, and at the same time, disconnects the electrical connection with the electrical stimulation pulse module 03. Similarly, when the device needs to work in the electrical stimulation pulse output mode, the system control module 05 controls the function switching module 02 to connect the electrode 01 with the electrical stimulation pulse module 03, and at the same time, disconnects the electrical connection with the electromyographic signal acquisition and processing module 04. Therefore, the technical solution of the existing electromyographic biofeedback therapeutic apparatus can only realize one of the functions of electromyographic acquisition or electrical stimulation pulse output at any time, and can only realize the functions of electromyographic acquisition and electrical stimulation pulse output by time-sharing multiplexing.

[0004] In addition, based on the technical solution of the electromyographic biofeedback therapeutic instrument that cannot realize two functions at the same time, there is a simple improvement solution, which is to set a group of independent electrodes for the electrical stimulation pulse module 03 and the electromyographic signal acquisition and processing module, respectively, so that the electromyographic signal can be collected while outputting the electrical stimulation pulse from the perspective of hardware structure. However, since the electrical stimulation pulse itself is an electrical signal, at this time, the electrical signal collected by the electromyographic signal acquisition and processing module 04 is a composite signal after the electrical stimulation pulse signal and the electromyographic signal are superimposed. At the same time, since the intensity of the electrical stimulation signal is much greater than the electromyographic signal itself, this solution cannot directly collect the electromyographic signal when the electrical stimulation pulse is output. Summary of the invention

[0005] The present invention aims to solve the technical problems in the current electromyographic biofeedback therapeutic instrument technical solutions that only one electrode is provided and only one function of electromyographic acquisition or electrical stimulation pulse output can be realized, and that two independent electrodes are provided and the electromyographic signal when an electrical stimulation pulse is output cannot be directly acquired. The present invention provides an electromyographic feedback electrical stimulation control system and a control method.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An electromyographic feedback electric stimulation control system, which is special in that it includes electrodes, an electric stimulation pulse module, a pulse sampling module, a signal preprocessing module, an electromyographic signal acquisition and processing module and a system control module;

[0008] The electrodes are respectively connected to the electrical stimulation pulse module and the signal preprocessing module, and are used to contact the muscle surface to collect myoelectric signals and receive electrical stimulation pulses output by the electrical stimulation pulse module;

[0009] The signal preprocessing module is also connected to the pulse sampling module and the electromyographic signal acquisition and processing module respectively, and is used to receive the pulse sampling signal output by the pulse sampling module, and preprocess the pulse sampling signal and the composite signal received by the electrode, eliminate the electrical stimulation pulse signal in the composite signal, and output the electromyographic signal collected by the electrode; the composite signal includes the electrical stimulation pulse and the electromyographic signal collected by the electrode;

[0010] The electromyographic signal acquisition and processing module is used to perform one of filtering, amplification, and analog-to-digital conversion or any combination of processing on the electromyographic signal output by the signal preprocessing module;

[0011] The system control module is connected to the electrical stimulation pulse module, the pulse sampling module and the electromyographic signal acquisition and processing module respectively, and is used to control the operation of the electrical stimulation pulse module and the pulse sampling module, and receive the electromyographic signal output by the electromyographic signal acquisition and processing module;

[0012] The pulse sampling module is also connected to the electrical stimulation pulse module and is used to sample from the electrical stimulation pulse module according to a preset sampling ratio.

[0013] Further, the signal preprocessing module includes a difference operation unit and an electromyographic signal amplification unit connected to each other;

[0014] The difference operation unit is connected to the electrode and is used to subtract the electrical stimulation pulse signal from the composite signal through difference operation to obtain a pure electromyographic signal;

[0015] The electromyographic signal amplifying unit is connected to the electromyographic signal collecting and processing module and is used to amplify the pure electromyographic signal.

[0016] Furthermore, the difference operation unit is an analog arithmetic operation circuit with a maximum input voltage greater than or equal to 100V and a voltage accuracy greater than or equal to 1mV.

[0017] Further, the electrical stimulation pulse module includes an energy supply unit, and a waveform generation unit, a signal amplification / isolation unit and a pulse output unit connected in sequence;

[0018] The energy supply unit is connected to the signal amplification / isolation unit, and is used to provide electrical energy to the signal amplification / isolation unit; the waveform generating unit is connected to the system control module, and is used to generate a corresponding pulse waveform according to the instructions issued by the system control module; the signal amplification / isolation unit is used to amplify and electrically isolate the pulse waveform generated by the waveform generating unit; the pulse output unit is connected to the electrode, and is used to output the pulse waveform processed by the signal amplification / isolation unit to the electrode.

[0019] Furthermore, the electrical stimulation pulse module also includes a feedback unit; the input side of the feedback unit is connected to the signal amplification / isolation unit, and the output side is connected to the waveform generation unit.

[0020] Further, the system control module includes a logic control and data processing unit, and a user operation input unit, a device output unit, a logic control and data processing unit, a pulse waveform control interface unit, a pulse sampling control interface unit, an electromyographic data interface unit and a data storage unit respectively connected to the logic control and data processing unit;

[0021] The pulse waveform control interface unit, the pulse sampling control interface unit and the electromyographic data interface unit are respectively connected to the electrical stimulation pulse module, the pulse sampling module and the electromyographic signal acquisition and processing module;

[0022] The user operation input unit is used to receive the operation instructions issued by the user, and after being processed by the logic control and data processing unit, the instructions are sent to the electrical stimulation pulse module and the pulse sampling module via the pulse waveform control interface unit and the pulse sampling control interface unit respectively;

[0023] The electromyographic data interface unit is used to transmit the electromyographic signal sent by the electromyographic signal acquisition and processing module to the logic control and data processing unit, and transmit it to the user through the device output unit;

[0024] The data storage unit is used to interact with the logic control and data processing unit, save information in the logic control and data processing unit, and allow the logic control and data processing unit to read the stored information.

[0025] The present invention also provides a control method using the above electromyographic feedback electrical stimulation control system, which is special in that it includes the following steps:

[0026] S1, the sampling ratio of the pulse sampling module is determined

[0027] S1.1, when the electrode is not in contact with the skin, sending instructions to the electrical stimulation pulse module through the system control module, so that the electrical stimulation pulse module outputs electrical stimulation pulses to the electrode;

[0028] S1.2, setting the sampling ratio of the pulse sampling module through the system control module, so that the pulse sampling module samples from the electrical stimulation pulse module according to the sampling ratio, obtains a signal M, and outputs the signal M to the signal preprocessing module;

[0029] S1.3, through the signal preprocessing module, eliminating the signal M from the signal N output from the electrode to the signal preprocessing module to obtain a signal P;

[0030] S1.4, determine whether the signal P is 0. If it is 0, the sampling ratio set in step S1.2 is used as the preset sampling ratio. Otherwise, adjust the sampling ratio and return to step S1.2 until the signal P ratio is 0, and the corresponding sampling ratio is used as the preset sampling ratio.

[0031] S2, control system works

[0032] S2.1, setting the sampling ratio of the pulse sampling module according to the preset sampling ratio through the system control module;

[0033] S2.2, sending instructions to the electrical stimulation pulse module through the system control module, so that the electrical stimulation pulse module outputs electrical stimulation pulses to the electrodes, and at the same time, collects electromyographic signals through the electrodes;

[0034] S2.3, after the pulse sampling module performs sampling according to a preset sampling ratio, the composite signal output by the electrode and the electrical stimulation pulse signal output by the pulse sampling module are preprocessed by the signal preprocessing module to obtain the electromyographic signal collected by the electrode;

[0035] S2.4, the electromyographic signal acquisition and processing module performs one of the following processes, namely, filtering, amplification, and analog-to-digital conversion or any combination of these processes on the electromyographic signal output by the signal preprocessing module, and then processes the electromyographic signal through the system control module and outputs the processed signal to the user.

[0036] The present invention also provides another myoelectric feedback electrical stimulation control system, which is special in that it includes electrodes, an electrical stimulation pulse module, a pulse sampling module, a signal preprocessing module, an electromyographic signal acquisition and processing module, and a system control module;

[0037] The electrodes are respectively connected to the electrical stimulation pulse module and the electromyographic signal acquisition and processing module, and are used to contact the muscle surface to collect electromyographic signals and receive the electrical stimulation pulses output by the electrical stimulation pulse module;

[0038] The electromyographic signal acquisition and processing module is used to perform one of filtering, amplification, analog-to-digital conversion or any combination of processing on the composite signal output by the electrode; the composite signal includes the electrical stimulation pulse and the electromyographic signal acquired by the electrode;

[0039] The system control module is connected to the electrical stimulation pulse module, the pulse sampling module and the signal preprocessing module respectively, and is used to control the operation of the electrical stimulation pulse module and the pulse sampling module, and receive the electromyographic signal output by the signal preprocessing module;

[0040] The signal preprocessing module is also connected to the pulse sampling module and the electromyographic signal acquisition and processing module respectively, and is used to receive the pulse sampling signal output by the pulse sampling module, and preprocess the pulse sampling signal and the composite signal processed by the electromyographic signal acquisition and processing module, eliminate the electrical stimulation pulse signal in the composite signal, and output the electromyographic signal collected by the electrode;

[0041] The pulse sampling module is also connected to the electrical stimulation pulse module and is used to sample from the electrical stimulation pulse module according to a preset sampling ratio.

[0042] Further, the signal preprocessing module includes a difference operation unit and an electromyographic signal amplification unit connected to each other;

[0043] The difference operation unit is connected to the electromyographic signal acquisition and processing module, and is used to subtract the electrical stimulation pulse signal from the composite signal through difference operation to obtain a pure electromyographic signal;

[0044] The electromyographic signal amplifying unit is connected to the system control module and is used to amplify the pure electromyographic signal.

[0045] Furthermore, the electrical stimulation pulse module includes an energy supply unit, a feedback unit, and a waveform generation unit, a signal amplification / isolation unit and a pulse output unit connected in sequence;

[0046] The energy supply unit is connected to the signal amplification / isolation unit, and is used to provide electrical energy to the signal amplification / isolation unit; the waveform generating unit is connected to the system control module, and is used to generate a corresponding pulse waveform according to the instructions issued by the system control module; the signal amplification / isolation unit is used to amplify and electrically isolate the pulse waveform generated by the waveform generating unit; the pulse output unit is connected to the electrode, and is used to output the pulse waveform processed by the signal amplification / isolation unit to the electrode; the input side of the feedback unit is connected to the signal amplification / isolation unit, and the output side is connected to the waveform generating unit.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. The electromyography feedback electrostimulation control system of the present invention collects the current electrostimulation signal according to a preset sampling ratio based on the electrostimulation pulse sampling module, and then eliminates the electrostimulation signal by subtracting the signal collected by the device. Through one electrode, electrostimulation pulse output and electromyography collection input can be performed simultaneously, and the system setting is simpler.

[0049] 2. The myoelectric feedback electrical stimulation control system of the present invention can detect the user's muscle strength in real time during the use of the device, including when there is electrical stimulation and when there is no electrical stimulation. In actual applications, it can better discover the user's active force situation and guide medical personnel to make targeted adjustments to the treatment plan.

[0050] 3. The myoelectric feedback electrical stimulation control system of the present invention can achieve the same application effect as conventional technology by outputting electrical stimulation pulses alone or collecting myoelectric signals alone.

[0051] 4. The electrical stimulation pulse module of the present invention is provided with a feedback unit, which can provide a feedback signal to the electrical stimulation pulse module so as to generate a controllable expected pulse waveform.

[0052] 5. In the electromyographic feedback electrical stimulation control method of the present invention, before the above-mentioned control system works normally, the electrodes are first prevented from contacting the skin to determine the sampling ratio of the pulse sampling module, thereby ensuring that when the signal preprocessing module processes the composite signal, the electrical stimulation pulses in the composite signal can be completely eliminated to obtain a pure electromyographic signal, thereby ensuring the accuracy of the acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of a conventional electromyographic biofeedback therapeutic apparatus is provided as background technology;

[0054] Among them, 01-electrode, 02-function switching module, 03-electric stimulation pulse module, 04-electromyographic signal acquisition and processing module, 05-system control module;

[0055] Figure 2 It is a schematic diagram of an embodiment of the myoelectric feedback electric stimulation control system of the present invention;

[0056] Figure 3 It is a schematic diagram of the preprocessing principle of the signal preprocessing module in the embodiment of the myoelectric feedback electric stimulation control system of the present invention;

[0057] Figure 4 It is a schematic diagram of an electric stimulation pulse module in an embodiment of the myoelectric feedback electric stimulation control system of the present invention;

[0058] Figure 5 A schematic diagram of a system control module in an embodiment of the myoelectric feedback electrical stimulation control system of the present invention;

[0059] Figure 6 It is a schematic diagram of the flow chart of an embodiment of the myoelectric feedback electrical stimulation control method of the present invention.

[0060] Among them: 1-electrode, 2-electric stimulation pulse module, 21-waveform generating unit, 22-signal amplification / isolation unit, 23-feedback unit, 24-energy supply unit, 25-pulse output unit, 3-electromyographic signal acquisition and processing module, 4-pulse sampling module, 5-signal preprocessing module, 51-difference operation unit, 52-electromyographic signal amplification unit, 6-system control module, 61-user operation input unit, 62-device output unit, 63-logic control and data processing unit, 64-pulse waveform control interface unit, 65-pulse sampling control interface unit, 66-electromyographic data interface unit, 67-data storage unit. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0062] The invention provides an electromyographic feedback electrical stimulation control system and method, which can be applied to electromyographic feedback therapeutic equipment and can simultaneously collect electromyographic signals and output electrical stimulation pulses.

[0063] like Figure 2As shown, the myoelectric feedback electric stimulation control system of the present invention includes an electrode 1, an electric stimulation pulse module 2, an electromyographic signal processing module 3, a pulse sampling module 4, a signal preprocessing module 5 and a system control module 6. The overall working principle is: the electrode 1 can be attached to the surface of the corresponding muscle of the human body to collect electromyographic signals and output electric stimulation pulses; the electric stimulation pulse module 2 generates electric stimulation pulses under the control of the system control module 6 and outputs them to the human muscle tissue through the electrode 1 to produce a therapeutic effect; the pulse sampling module 4 samples the pulses output by the electric stimulation pulse module 2 according to a certain proportion under the control of the system control module 6, and sends the sampled electric stimulation pulse signals to the signal preprocessing module 5 after processing; the signal preprocessing module 5 preprocesses the signals transmitted from the electrode 1 and the pulse sampling module 4 to eliminate the interference of the electric stimulation pulses, and sends the processed signals to the electromyographic signal collection and processing module 3; the electromyographic signal collection and processing module 3 collects and processes the electromyographic signals and sends them to the system control module 6; the system control module 6 controls the various components of the system to work according to the expected purpose according to the needs of the user, and outputs the corresponding information data to the user.

[0064] Electrode 1 is a component that realizes electrical connection between the device and the human body, and it is always used in pairs. Electrode 1 is attached to the surface of the corresponding muscle of the human body through mechanical force, and the surface in contact with the human body is conductive. Its material can be metal or non-metallic conductive material. On the one hand, electrode 1 can obtain electromyographic signals from the human body and transmit them to the device for collection and analysis. On the other hand, it can also output electrical stimulation pulses to the muscle tissue of the human body for treatment.

[0065] The signal preprocessing module 5 preprocesses the composite signal (collected electromyographic signal and electrical stimulation pulse) received from the electrode 1 and the signal sent from the pulse sampling module 4, thereby eliminating the electrical stimulation pulse signal part. The specific preprocessing principle is as follows: Figure 3As shown. The signal preprocessing module 5 includes a difference operation unit 51 and an electromyographic signal amplifying unit 52. The difference operation unit 51 obtains a pure electromyographic signal by subtracting the electrical stimulation pulse signal part from the composite signal transmitted from the electrode 1 through difference operation. The electromyographic signal amplifying unit 52 amplifies the pure electromyographic signal and transmits it to the electromyographic signal acquisition and processing module 3 for further processing. Among them, the difference operation unit 51 receives the composite signal a transmitted from the electrode 1 and the pulse sampling signal b transmitted from the pulse sampling module 4, and performs a difference operation ab on these two signals. Since signal a is a composite signal of the electromyographic signal superimposed with the electrical stimulation pulse signal at the electrode 1, and signal b is a pulse signal with an amplitude equal to the amplitude of the electrical stimulation pulse signal at the electrode 1, the output signal obtained after ab is the electromyographic signal part collected at the electrode 1. In practical applications, since the electrical stimulation pulse signal has a large amplitude (up to 100mA or 100V), and the amplitude of the electromyographic signal is very small (no more than 10mV at most), the difference operation unit 51 needs to be able to simultaneously meet the maximum input voltage of not less than 100V and the voltage accuracy of not less than 1mV level. The implementation method of this module can be but is not limited to an analog arithmetic operation circuit. The electromyographic signal amplification unit 52 performs the first amplification on the pure electromyographic signal output by the difference operation unit 51. Since the amplitude of the pure electromyographic signal does not exceed 10mV, it is not convenient to directly perform signal processing and analysis. Therefore, the signal needs to be amplified first. The amplification factor can be arbitrarily set in a specific application. Usually, it is only necessary to ensure that the amplitude of the output signal after amplification does not exceed the amplitude of the system operating voltage.

[0066] The electrical stimulation pulse module 2 is a functional module that generates specific electrical stimulation pulses under the control of the system control module 6. The electrical stimulation pulse waveform generated by this module can be, but is not limited to, a unidirectional rectangular wave, a bidirectional rectangular wave, a triangular wave, a trapezoidal wave and a sine wave. The pulse frequency is low frequency, and the maximum frequency is not higher than 1KHz. The pulse amplitude is usually adjustable, and its amplitude index can be current or voltage. When the amplitude value is expressed in current, the maximum value does not exceed 100mA, and when it is expressed in voltage, the maximum value does not exceed 100V (under a 1KΩ load). The specific implementation method of this module is as follows Figure 4 As shown, the waveform generating unit 21 generates a specific waveform, the signal amplifying / isolating unit 22 performs voltage, current or power amplification and electrical isolation on the waveform generated by the waveform generating unit 21, the feedback unit 23 provides a feedback signal to the electrical stimulation pulse module 2 so as to generate a controllable expected pulse waveform, the energy providing unit 24 provides electrical energy to the signal amplifying / isolating unit 22, and the pulse output unit 25 outputs the pulse signal generated by the electrical stimulation pulse module 2.

[0067] The waveform generating unit 21 is an essential functional unit of the electrical stimulation pulse module 2, and its function is to generate a specific pulse waveform as described above for the device, which can be implemented by a digital-to-analog converter directly generating a voltage or current waveform, a frequency synthesizer generating a waveform, and a digital signal modulation generating a waveform. According to the specific implementation scheme, the amplitude of the waveform generated by the unit can be fixed or adjustable. When the unit generates a waveform with a fixed amplitude and the amplification factor of the signal amplification / isolation unit 22 is also fixed, the device can only generate an electrical stimulation pulse signal with a fixed amplitude. When the unit generates a waveform signal with an adjustable amplitude or the amplification factor of the signal amplification / isolation unit 22 is adjustable, the device can output an electrical stimulation pulse signal with an adjustable amplitude. ) The signal amplification / isolation unit 22 is a unit that amplifies the voltage, current, or power of the pulse generated by the waveform generating unit 21 and electrically isolates it. The signal amplification includes voltage amplification, current amplification, power amplification and a combination of multiple amplification methods; the isolation function is an optional functional unit. When the isolation function is provided, the pulse output unit 25 can be electrically isolated from the aforementioned circuit part, which can better ensure the safety of the user. When the isolation function is not provided, the pulse signal generated by the aforementioned circuit part is directly output to the electrode 1 through the pulse output unit 25. The feedback unit 23 is to generate a controllable expected pulse signal waveform, and usually adopts a negative feedback method to realize the feedback control function. This unit is an optional functional unit. When this unit is not provided, the module can also generate a pulse signal in an open loop.

[0068] The energy supply unit 24 provides electrical energy to the signal amplification / isolation unit 22. Depending on the specific implementation, it can be a constant current source or a constant voltage source, and its energy can be constant or adjustable. The pulse output unit 25 is used to output the pulse generated by this module.

[0069] The myoelectric signal acquisition and processing module 3 is a circuit module for processing and collecting myoelectric signals, and its main function is to filter, amplify, and perform analog-to-digital conversion on the myoelectric signals. For different applications, the module may use one or a combination of the functions of filtering, amplifying, and analog-to-digital conversion.

[0070] The pulse sampling module 4 is controlled by the system control module 6, collects the pulse signal generated by the electrical stimulation pulse module 2 according to a certain ratio, and outputs it to the signal preprocessing module 5. In the present invention, since the electrode 1 needs to collect the electromyographic signal while outputting the electrical stimulation pulse, the electrical signal on the electrode 1 is a composite signal after the electrical stimulation pulse signal and the electromyographic signal are superimposed. In order to accurately collect the electromyographic signal, the electrical stimulation pulse part in the composite signal must be eliminated before the electromyographic signal is collected. According to the technical principle of the present invention, the amplitude of the electrical stimulation pulse signal collected from the electrode 1 should be equal to the amplitude generated by the electrical stimulation pulse module 2. However, since in the actual application system, the transmission and collection process of the signal will definitely be accompanied by a certain loss attenuation, therefore, the amplitude of the electrical stimulation pulse signal part in the composite signal collected from the electrode 1 will be less than the amplitude generated by the electrical stimulation pulse module 2. In order to ensure that the signal preprocessing module 5 can process correctly, the pulse sampling module 4 needs to collect the corresponding electrical stimulation pulse signal according to the loss ratio of the electrical stimulation pulse at the electrode 1 in the actual application system for use by the signal preprocessing module 5.

[0071] The main function of the system control module 6 is to control the working state of the above modules according to the needs of the user, including controlling the electrical stimulation pulse module 2 to output the electrical stimulation pulse signal required by the user, controlling the pulse sampling module 4 to sample the electrical stimulation pulse according to a specific ratio, and reading the electromyographic signal processed by the electromyographic signal acquisition and processing module 3. In addition, the system control module 6 is also responsible for the human-computer interaction function with the user, including user operation input and device status parameter output. The typical system control module 6 is composed of Figure 5 shown.

[0072] The system control module 6 is composed of a user operation input unit 61, a device output unit 62, a logic control and data processing unit 63, a pulse waveform control interface unit 64, a pulse sampling control interface unit 65, an electromyographic data interface unit 66 and a data storage unit 67. The user operation input unit 61 and the device output unit 62 jointly realize the interactive function between the device and the user. The user sends an operation instruction to the device through the user operation input unit 61 to control the device to realize the corresponding function, specifically including setting and outputting the electrical stimulation pulse parameters, collecting electromyographic signals and displaying the results, and related instructions for device status and data management. The implementation method can be a keyboard, a touch screen, a wireless control terminal or other input devices. The device output unit 62 is a module for outputting the working status of the device and related data, specifically including outputting the electrical stimulation pulse parameters, the collected electromyographic data and the device status information. The implementation method can be a display screen, sound, vibration or any other physical signal that can be perceived by people. The function of the logic control and data processing unit 63 is to complete the control of various functions of the system through specific logic operations, including accepting user input from the user operation input unit 61, sending device output information to the device output unit 62, sending pulse waveform parameters and control commands to the pulse waveform control interface unit 64, sending pulse sampling parameters to the pulse sampling control interface unit 65, accepting electromyographic data from the electromyographic data interface unit 66, and storing data in or reading data from the data storage unit 67. Its specific implementation can be a dedicated logic calculation circuit, a general integrated computing chip, a dedicated computer or other functional modules with computing capabilities. The pulse waveform control interface unit 64 is used to connect the electrical stimulation pulse module 2. The logic control and data processing unit 63 sends electrical stimulation pulse parameters and instructions to the electrical stimulation pulse module 2 through the pulse waveform control interface unit 64. The pulse parameters include pulse waveform, amplitude, frequency, and pulse width, and the instructions include start and stop. The pulse sampling control interface unit 65 is used to connect the pulse sampling module 4. The logic control and data processing unit 63 sends sampling parameters to the pulse sampling module 4 through the pulse sampling control interface unit 65. The sampling parameters refer to the sampling ratio. The electromyographic data interface unit 66 receives the electromyographic signal output by the electromyographic signal processing module and transmits it to the logic control and data processing unit 63. The data storage unit 67 is used to store or read relevant data and parameters according to the user's operation instructions, including device status parameters, collected electromyographic data, and electrical stimulation pulse parameters.

[0073] The workflow of the myoelectric feedback electric stimulation control method of the present invention in practical application is as follows: Figure 6 As shown: The workflow is start-up, adjustment of sampling ratio, and normal operation.

[0074] Startup means that when the user operates the device to start electromyographic feedback training, the device is ready to start outputting electrical stimulation pulses and collecting electromyographic signals. Adjusting the sampling ratio is a preparation process before the control system of the present invention officially works. In this process, the device first outputs pulses according to the electrical stimulation pulse parameters set by the user, and samples the electrical stimulation pulses according to the default initial sampling ratio. After the signal preprocessing and data acquisition of this system, it is detected whether the collected signal is 0. If it is 0, it means that at the current sampling ratio, the electrical stimulation pulse signal can be completely eliminated, that is, the sampling ratio can be determined. If it is not 0, the sampling ratio is adjusted until the collected signal is detected to be 0. After the sampling ratio is adjusted, the device can enter normal operation, output electrical stimulation pulses according to the electrical stimulation pulse parameters set by the user, and collect electromyographic signals. The specific normal working process is:

[0075] Step 1, setting the sampling ratio of the pulse sampling module 4 according to the preset sampling ratio through the system control module 6;

[0076] Step 2, sending instructions to the electrical stimulation pulse module 2 through the system control module 6, so that the electrical stimulation pulse module 2 outputs electrical stimulation pulses to the electrode 1, and at the same time, collects electromyographic signals through the electrode 1;

[0077] Step 3, after the pulse sampling module 4 performs sampling according to a preset sampling ratio, the composite signal output by the electrode 1 and the electrical stimulation pulse signal output by the pulse sampling module 4 are preprocessed by the signal preprocessing module 5 to obtain the electromyographic signal collected by the electrode 1;

[0078] Step 4: After filtering, amplifying, analog-to-digital conversion or any combination of processing is performed on the electromyographic signal output by the signal preprocessing module 5 by the electromyographic signal acquisition and processing module 3, the electromyographic signal is output to the user via the system control module 6.

[0079] The specific working principles of the above modules are as mentioned above and will not be repeated here.

[0080] The following is an example of a control system using the present invention:

[0081] A pair of conductive gel electrodes are used as electrodes 1. The electrical stimulation pulse module 2 uses a digital-to-analog converter to directly generate a rectangular wave voltage signal, with a fixed frequency of 100Hz and a pulse width of 300uS. A power amplifier is used to amplify the signal, and then an isolation transformer is used to electrically isolate the electrical stimulation pulse. The power amplifier and the isolation transformer together constitute a signal isolation / amplification unit. The pulse sampling module 4 uses the auxiliary winding of the transformer to sample at a ratio of 1 / 100, and then amplifies the sampled signal through a variable gain amplifier. The signal preprocessing module 5 is composed of a subtraction circuit composed of an operational amplifier and an amplifier circuit with an amplification factor of 60 times. The electromyographic signal processing module is composed of an industrial frequency notch filter, a bandpass filter, an amplifier circuit with an amplification factor of 5 times, and an analog-to-digital converter. The system control module 6 is composed of an embedded computer, in which the input and output are jointly realized by a touch screen, and the ROM built into the embedded computer system is used as data storage.

[0082] The core of the present invention is that a pair of electrodes can simultaneously output electrical stimulation pulses and input electromyographic data. The specific core idea is to collect the current electrical stimulation signal through the electrical stimulation pulse sampling module, and then eliminate the electrical stimulation signal by subtraction operation on the signal collected by the device. In order to explain the implementation process of the technical solution in detail, this solution also describes and lists some technical features of other aspects of the electromyographic feedback electrical stimulation device. Since there are many technical routes to realize the electromyographic feedback electrical stimulation function, they cannot be listed one by one in the present invention.

[0083] The present invention may also not specially set up the electrical stimulation pulse sampling module 4, but perform hardware or software processing to eliminate the electrical stimulation signal through the electrical stimulation pulse parameters determined by the system control module 6. Hardware processing includes but is not limited to subtraction operations, and software processing includes but is not limited to software arithmetic operations, filtering, and limiting on the signal output by the electromyographic signal processing module. In addition, according to the idea proposed by the present invention, the connection order of each module in the technical solution can also be changed. For example, the connection order of the signal preprocessing module 5 and the electromyographic signal processing module is interchanged, that is, the signal collected by the electrode 1 is first amplified and filtered, and then the collected electrical stimulation pulse signal is used to perform electrical stimulation pulse elimination processing, or any other form of order change.

[0084] Furthermore, local functions may also be changed. Since the implementation methods of local functional modules are not fully listed in the present invention when describing the technical solution, or due to future technological advances, the implementation methods of local functional modules may change. Typically, the sampling method of the electrical stimulation pulse sampling module 4 changes, including but not limited to transformer sampling, optocoupler sampling, direct resistance sampling, and current transformer sampling. All these changes in local technical details should fall within the scope of this technical solution.

[0085] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A myoelectric feedback electrical stimulation control system, characterized in that: It comprises an electrode (1), an electrical stimulation pulse module (2), a pulse sampling module (4), a signal preprocessing module (5), an electromyographic signal acquisition and processing module (3) and a system control module (6); The electrodes (1) are respectively connected to the electrical stimulation pulse module (2) and the signal preprocessing module (5), and are used for contacting the muscle surface to collect myoelectric signals and receiving electrical stimulation pulses output by the electrical stimulation pulse module (2); The signal preprocessing module (5) is also connected to the pulse sampling module (4) and the electromyographic signal acquisition and processing module (3) respectively, and is used to receive the pulse sampling signal output by the pulse sampling module (4), and preprocess the pulse sampling signal and the composite signal received by the electrode (1), eliminate the electrical stimulation pulse signal in the composite signal, and output the electromyographic signal collected by the electrode (1); the composite signal includes the electrical stimulation pulse and the electromyographic signal collected by the electrode (1); The electromyographic signal acquisition and processing module (3) is used to perform one of filtering, amplification, and analog-to-digital conversion or any combination of these processes on the electromyographic signal output by the signal preprocessing module (5); The system control module (6) is connected to the electrical stimulation pulse module (2), the pulse sampling module (4) and the electromyographic signal acquisition and processing module (3) respectively, and is used to control the operation of the electrical stimulation pulse module (2) and the pulse sampling module (4), and receive the electromyographic signal output by the electromyographic signal acquisition and processing module (3); The pulse sampling module (4) is also connected to the electrical stimulation pulse module (2) and is used to sample from the electrical stimulation pulse module (2) according to a preset sampling ratio; The pulse sampling module (4) determines the preset sampling ratio in the following manner: S1.1, when the electrode (1) is not in contact with the skin, sending instructions to the electrical stimulation pulse module (2) through the system control module (6), so that the electrical stimulation pulse module (2) outputs electrical stimulation pulses to the electrode (1); S1.2, setting the sampling ratio of the pulse sampling module (4) through the system control module (6), so that the pulse sampling module (4) samples from the electrical stimulation pulse module (2) according to the sampling ratio, obtains a signal M, and outputs the signal M to the signal preprocessing module (5); S1.3, eliminating the signal M from the signal N output from the electrode (1) to the signal preprocessing module (5) through the signal preprocessing module (5), thereby obtaining a signal P; S1.4, determine whether the signal P is 0. If it is 0, the sampling ratio set in step S1.2 is used as the preset sampling ratio. Otherwise, adjust the sampling ratio and return to step S1.2 until the signal P ratio is 0, and the corresponding sampling ratio is used as the preset sampling ratio.

2. A myoelectric feedback electrical stimulation control system as claimed in claim 1, characterized in that: The signal preprocessing module (5) comprises a difference calculation unit (51) and an electromyographic signal amplification unit (52) connected to each other; The difference operation unit (51) is connected to the electrode (1) and is used to subtract the electrical stimulation pulse signal from the composite signal through difference operation to obtain a pure electromyographic signal; The electromyographic signal amplifying unit (52) is connected to the electromyographic signal collecting and processing module (3) and is used to amplify the pure electromyographic signal.

3. A myoelectric feedback electrical stimulation control system as claimed in claim 2, characterized in that: The difference operation unit (51) is an analog arithmetic operation circuit with a maximum input voltage greater than or equal to 100V and a voltage accuracy greater than or equal to 1mV.

4. A myoelectric feedback electrical stimulation control system as claimed in any one of claims 1 to 3, characterized in that: The electrical stimulation pulse module (2) comprises an energy supply unit (24), and a waveform generation unit (21), a signal amplification / isolation unit (22) and a pulse output unit (25) which are connected in sequence; The energy supply unit (24) is connected to the signal amplification / isolation unit (22) and is used to provide electrical energy to the signal amplification / isolation unit (22); The waveform generating unit (21) is connected to the system control module (6) and is used to generate a corresponding pulse waveform according to an instruction issued by the system control module (6); the signal amplification / isolation unit (22) is used to amplify and electrically isolate the pulse waveform generated by the waveform generating unit (21); and the pulse output unit (25) is connected to the electrode (1) and is used to output the pulse waveform processed by the signal amplification / isolation unit (22) to the electrode (1).

5. The myoelectric feedback electrical stimulation control system according to claim 4, characterized in that: The electrical stimulation pulse module (2) also includes a feedback unit (23); the input side of the feedback unit (23) is connected to the signal amplification / isolation unit (22), and the output side is connected to the waveform generation unit (21).

6. The myoelectric feedback electrical stimulation control system according to claim 5, characterized in that: The system control module (6) comprises a logic control and data processing unit (63), and a user operation input unit (61), a device output unit (62), a logic control and data processing unit (63), a pulse waveform control interface unit (64), a pulse sampling control interface unit (65), an electromyographic data interface unit (66) and a data storage unit (67) respectively connected to the logic control and data processing unit (63); The pulse waveform control interface unit (64), the pulse sampling control interface unit (65) and the electromyographic data interface unit (66) are respectively connected to the electrical stimulation pulse module (2), the pulse sampling module (4) and the electromyographic signal acquisition and processing module (3); The user operation input unit (61) is used to receive operation instructions issued by the user, and after being processed by the logic control and data processing unit (63), the operation instructions are sent to the electrical stimulation pulse module (2) and the pulse sampling module (4) via the pulse waveform control interface unit (64) and the pulse sampling control interface unit (65) respectively; The electromyographic data interface unit (66) is used to transmit the electromyographic signal emitted by the electromyographic signal acquisition and processing module (3) to the logic control and data processing unit (63), and transmit it to the user through the device output unit (62); The data storage unit (67) is used to interact with the logic control and data processing unit (63), store information in the logic control and data processing unit (63), and allow the logic control and data processing unit (63) to read the stored information.

7. A control method using the myoelectric feedback electrical stimulation control system according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, the sampling ratio of the pulse sampling module (4) is determined S1.1, when the electrode (1) is not in contact with the skin, sending instructions to the electrical stimulation pulse module (2) through the system control module (6), so that the electrical stimulation pulse module (2) outputs electrical stimulation pulses to the electrode (1); S1.2, setting the sampling ratio of the pulse sampling module (4) through the system control module (6), so that the pulse sampling module (4) samples from the electrical stimulation pulse module (2) according to the sampling ratio, obtains a signal M, and outputs the signal M to the signal preprocessing module (5); S1.3, eliminating the signal M from the signal N output from the electrode (1) to the signal preprocessing module (5) through the signal preprocessing module (5), thereby obtaining a signal P; S1.4, determine whether the signal P is 0. If it is 0, the sampling ratio set in step S1.2 is used as the preset sampling ratio. Otherwise, adjust the sampling ratio and return to step S1.2 until the signal P ratio is 0, and the corresponding sampling ratio is used as the preset sampling ratio. S2, control system works S2.1, setting the sampling ratio of the pulse sampling module (4) according to a preset sampling ratio through the system control module (6); S2.2, sending instructions to the electrical stimulation pulse module (2) through the system control module (6), so that the electrical stimulation pulse module (2) outputs electrical stimulation pulses to the electrode (1), and at the same time, collects electromyographic signals through the electrode (1); S2.3, after the pulse sampling module (4) performs sampling according to a preset sampling ratio, the composite signal output by the electrode (1) and the electrical stimulation pulse signal output by the pulse sampling module (4) are preprocessed by the signal preprocessing module (5) to obtain the electromyographic signal collected by the electrode (1); S2.4, the electromyographic signal output by the signal preprocessing module (5) is filtered, amplified, analog-to-digital converted, or processed in any combination thereof by the electromyographic signal acquisition and processing module (3), and then processed by the system control module (6) and output to the user.

8. A myoelectric feedback electrical stimulation control system, characterized in that: It comprises an electrode (1), an electrical stimulation pulse module (2), a pulse sampling module (4), a signal preprocessing module (5), an electromyographic signal acquisition and processing module (3) and a system control module (6); The electrodes (1) are respectively connected to the electrical stimulation pulse module (2) and the electromyographic signal acquisition and processing module (3), and are used for contacting with the muscle surface to acquire electromyographic signals, and receiving electrical stimulation pulses output by the electrical stimulation pulse module (2); The electromyographic signal acquisition and processing module (3) is used to perform one of the following processes, namely, filtering, amplification, and analog-to-digital conversion, or any combination of these processes on the composite signal output by the electrode (1); the composite signal includes the electrical stimulation pulse and the electromyographic signal acquired by the electrode (1); The system control module (6) is connected to the electrical stimulation pulse module (2), the pulse sampling module (4) and the signal preprocessing module (5) respectively, and is used to control the operation of the electrical stimulation pulse module (2) and the pulse sampling module (4), and receive the electromyographic signal output by the signal preprocessing module (5); The signal preprocessing module (5) is also connected to the pulse sampling module (4) and the electromyographic signal acquisition and processing module (3) respectively, and is used to receive the pulse sampling signal output by the pulse sampling module (4), and preprocess the pulse sampling signal and the composite signal processed by the electromyographic signal acquisition and processing module (3), eliminate the electrical stimulation pulse signal in the composite signal, and output the electromyographic signal collected by the electrode (1); The pulse sampling module (4) is also connected to the electrical stimulation pulse module (2) and is used to sample from the electrical stimulation pulse module (2) according to a preset sampling ratio; The pulse sampling module (4) determines the preset sampling ratio in the following manner: S1.1, when the electrode (1) is not in contact with the skin, sending instructions to the electrical stimulation pulse module (2) through the system control module (6), so that the electrical stimulation pulse module (2) outputs electrical stimulation pulses to the electrode (1); S1.2, setting the sampling ratio of the pulse sampling module (4) through the system control module (6), so that the pulse sampling module (4) samples from the electrical stimulation pulse module (2) according to the sampling ratio, obtains a signal M, and outputs the signal M to the signal preprocessing module (5); S1.3, eliminating the signal M from the signal N output from the electrode (1) to the signal preprocessing module (5) through the signal preprocessing module (5), thereby obtaining a signal P; S1.4, determine whether the signal P is 0. If it is 0, the sampling ratio set in step S1.2 is used as the preset sampling ratio. Otherwise, adjust the sampling ratio and return to step S1.2 until the signal P ratio is 0, and the corresponding sampling ratio is used as the preset sampling ratio.

9. The myoelectric feedback electrical stimulation control system according to claim 8, characterized in that: The signal preprocessing module (5) comprises a difference calculation unit (51) and an electromyographic signal amplification unit (52) connected to each other; The difference operation unit (51) is connected to the electromyographic signal acquisition and processing module (3) and is used to subtract the electrical stimulation pulse signal from the composite signal through difference operation to obtain a pure electromyographic signal; The electromyographic signal amplifying unit (52) is connected to the system control module (6) and is used to amplify the pure electromyographic signal.

10. The myoelectric feedback electrical stimulation control system according to claim 8 or 9, characterized in that: The electrical stimulation pulse module (2) comprises an energy supply unit (24), a feedback unit (23), and a waveform generation unit (21), a signal amplification / isolation unit (22), and a pulse output unit (25) which are connected in sequence; The energy supply unit (24) is connected to the signal amplification / isolation unit (22) and is used to provide electrical energy to the signal amplification / isolation unit (22); The waveform generating unit (21) is connected to the system control module (6) and is used to generate a corresponding pulse waveform according to an instruction issued by the system control module (6); the signal amplifying / isolating unit (22) is used to amplify and electrically isolate the pulse waveform generated by the waveform generating unit (21); The pulse output unit (25) is connected to the electrode (1) and is used to output the pulse waveform processed by the signal amplification / isolation unit (22) to the electrode (1); the input side of the feedback unit (23) is connected to the signal amplification / isolation unit (22), and the output side is connected to the waveform generation unit (21).

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