Training evaluation system and knee joint training evaluation method based on digital knee brace

Abstract

The present invention discloses a training and evaluation system based on a digital knee brace. The system receives sEMG signals of the affected-side muscles and the healthy-side muscles in real time, as well as original motion state data. In the early recovery stage, the angle of the joint brace is adjusted based on the RMS value of the affected-side sEMG signal to reduce muscle loss. During the exercise stage, the electrical stimulation intensity and the electrical stimulation site are adjusted by the real-time received sEMG, so that electrical stimulation of a reasonable intensity can be performed on specific areas of the affected side at different times, thereby accurately training the muscles. At the same time, the real-time received sEMG enables real-time adjustment of the angular velocity and acceleration of the joint brace. Based on the above two-point adjustment, the technical effect of reducing muscle loss while minimizing muscle fatigue is achieved. The present invention also provides a method for evaluating knee joint training using the training and evaluation system based on the digital knee brace.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation training equipment, and in particular relates to a training evaluation system and a knee joint training evaluation method based on a digital knee joint brace. Background Art

[0002] Bone and joint injuries are an ancient disease and a leading cause of disability and even death worldwide. Developing effective treatments and rehabilitation technologies for bone and joint injuries can not only significantly improve people's quality of life but also significantly reduce medical resource costs, significantly contributing to improved health and economic benefits.

[0003] Currently, there are two treatments for disuse atrophy. One is exercise therapy, which is the most effective way to restore muscle mass, increase the number of myocyte nuclei, satellite cells (SCs), and regenerative capacity through re-applying mechanical weight-bearing exercises. The damping motion provided by weight-bearing exercises can increase muscle mass and, by increasing the load on the muscles, activate pathways and increase protein synthesis. However, according to a 2010 article by Oates BR titled "Low-volume resistance exercise can alleviate the decline in strength and muscle mass associated with immobilization," damping exercise alone can reduce but not completely alleviate muscle loss in disuse atrophy models such as limb immobilization with traditional braces.

[0004] Another method is physical therapy, among which electrical stimulation therapy is the most popular physical therapy. It can strengthen the muscle contraction of the affected side to prevent and treat disuse muscle atrophy.

[0005] Chinese patent CN109107039A discloses a myoelectric feedback and electrical stimulation-assisted lower limb rehabilitation trainer, comprising an elliptical machine body, first and second disc motors, first and second stepping connecting rods, first and second pedal swing arms, first and second foot pedals, an electrical module, and a touchscreen display. The elliptical machine body is provided with a base, a motor frame, first and second slide rails, and a display frame. The electrical module comprises a host computer, a microprocessor control module, an electromyographic acquisition module, and a functional electrical stimulation module. This invention allows users to safely and comfortably perform lower limb training along an elliptical walking trajectory. The touchscreen display provides a virtual training scene, utilizes the user's own electromyographic signals to assess their motor ability, and regulates motor output and functional electrical stimulation to compensate for movement, helping the user complete training and improving training safety. The combined active and passive training method increases training efficiency.

[0006] However, due to the variability of individual physiological characteristics, selecting the right parameters for electrical stimulation is a complex problem, often relying solely on the physician's experience and the patient's subjective feelings. Furthermore, continuous electrical stimulation can lead to muscle fatigue, making effective and precise implementation of personalized electrical stimulation a key challenge. Furthermore, the torque generated by a single electrical stimulation session is relatively small, making it difficult for patients to achieve precise movements. Summary of the Invention

[0007] The present invention provides a training and evaluation system based on a digital knee brace. Through this system, different areas of the affected muscle can be effectively, accurately and personalized with electrical stimulation of appropriate intensity based on different recovery stages, thereby reducing muscle fatigue. At the same time, muscle loss can be reduced by accurately adjusting the knee brace.

[0008] A training and evaluation system based on a digital knee brace, comprising:

[0009] The myoelectric acquisition module is used to collect sEMG signals from the healthy and affected side muscles and input the sEMG signals to the upper processing module;

[0010] IMU module, used to collect original motion state data of the healthy and affected side muscles;

[0011] The upper processing module is used to obtain the sEMG signal of the affected side muscle in real time, obtain the RMS value of the sEMG signal of the affected side muscle, and send the joint brace angle adjustment instruction to the joint brace module based on the RMS value of the affected side muscle; it is also used to obtain the quality factor based on the RMS deviation value of the healthy side muscle and the affected side muscle and the RMS value of the healthy side muscle when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, construct the electrical stimulation intensity signal based on the maximum and minimum values of the quality factor, and send the electrical stimulation intensity signal to the functional electrical stimulation module; it is also used to perform data fusion and complementary filtering on the original motion state data to obtain the real-time three-axis attitude angle when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, obtain the stimulation site signal based on the real-time three-axis attitude angle through the set correspondence between the three-axis attitude angle and the stimulation site, and send the stimulation site signal to the functional electrical stimulation module; it is also used to multiply the angular velocity and acceleration in the original motion state data by the quality factor to obtain motion state data when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, and send the motion state data to the joint brace module;

[0012] A functional electrical stimulation module, configured to provide electrical stimulation of a given intensity to a specific location of the affected muscle based on an electrical stimulation intensity signal and a stimulation site signal;

[0013] The joint brace module is used to adjust the angle of the joint brace based on the joint brace angle adjustment instruction; it is also used to adjust the angular velocity and acceleration of the joint brace based on the motion state data.

[0014] The electromyographic acquisition module includes electromyographic acquisition electrodes and an electromechanical signal processing unit. The electromyographic acquisition electrodes are used to collect sEMG signals from the muscle surfaces of the healthy side and the affected side. The electromechanical signal processing unit receives the sEMG signals from the muscle surfaces of the healthy side and the affected side through a signal line and sends the sEMG signals to the upper processing module.

[0015] The IMU module includes a gyroscope, an accelerometer, a magnetometer and an IMU signal processing unit. The gyroscope is used to collect the initial angular velocity of the joint brace, the accelerometer is used to collect the initial acceleration of the joint brace, the magnetometer is used to correct the initial angular velocity and initial acceleration to obtain original motion state data, and the IMU signal processing unit sends the original motion state data to the upper processing module.

[0016] The quality factor Q obtained based on the RMS deviation value of the healthy side muscle and the affected side muscle and the RMS value of the healthy side muscle is:

[0017]

[0018] RMS bias =RMS unaffected -RMS affected

[0019] Among them, RMS unaffected is the RMS value of the healthy side muscle, RMS affected is the RMS value of the affected side muscle, RMS bias The RMS deviation value is obtained by filtering and square root processing the sEMG signals of the healthy and affected side muscles. bias and RMS unaffected The quality factor Q is used to express the degree of weakness of the affected side muscle relative to the healthy side muscle.

[0020] The electrical stimulation intensity signal Ir constructed based on the maximum and minimum values of the quality factor is:

[0021]

[0022] Among them, I max Q is the maximum stimulation intensity pre-set during treatment. min The quality factor threshold at which the affected muscle does not need electrical stimulation to complete the movement, that is, the minimum value of the quality factor, Q max The quality factor threshold required to trigger the maximum electrical stimulation intensity to assist in completing the action, that is, the maximum value of the quality factor.

[0023] The angular velocity signal V is obtained by multiplying the angular velocity and acceleration in the original motion state data by the quality factor. r and acceleration signal A r They are:

[0024] V r =V×Q s

[0025] A r =A×Q s

[0026] Q s =1-Q

[0027] Wherein, V is the angular velocity in the original motion state data, A is the acceleration in the original motion state data, and Q is the quality factor.

[0028] The electrical stimulation intensity signal received by the functional electrical stimulation module includes the pulse width, frequency and amplitude of the electrical stimulation.

[0029] The training and evaluation system based on the digital knee brace also includes a visual module for receiving real-time three-axis posture angles and using the real-time three-axis posture angles as parameters of the joint model to dynamically display the dynamic trajectory of the joint. The joint module includes spheres representing the hip joint, knee joint and ankle joint, as well as connecting rods connecting the various joints.

[0030] The digital knee brace-based training and evaluation system also includes a power supply module for supplying power to the myoelectric acquisition module, the IMU module, the functional electrical stimulation module, and the joint brace module.

[0031] A method for evaluating knee joint training using the digital knee brace-based training evaluation system, characterized by comprising:

[0032] The knee joint is fixed at an angle by a joint brace, and sEMG signals of the muscles on the healthy side and the affected side are collected by an electromyographic acquisition module, and the sEMG signals are input into an upper processing module. The upper processing module obtains the sEMG signal of the affected side muscle in real time, and obtains the RMS value of the sEMG signal of the affected side muscle. Based on the RMS value of the affected side muscle, a joint brace angle adjustment instruction is sent to the joint brace module. The joint brace module adjusts the angle of the joint brace based on the joint brace angle adjustment instruction.

[0033] When the RMS value of the affected-side muscle reaches the RMS threshold of the dynamic motion stage, the upper processing module obtains the sEMG signals of the healthy and affected-side muscles in real time, obtains the quality factor based on the RMS deviation value of the healthy and affected-side muscles and the RMS value of the affected-side muscle, constructs the electrical stimulation intensity signal based on the maximum and minimum values of the quality factor, and sends the electrical stimulation intensity signal to the functional electrical stimulation module; the upper processing module also receives the original motion state data from the IMU module in real time, performs data fusion and complementary filtering on the original motion state data to obtain the real-time three-axis attitude angle, obtains the stimulation site signal based on the real-time three-axis attitude angle and the set correspondence between the three-axis attitude angle and the stimulation site, and sends the stimulation site signal to the functional electrical stimulation module; the functional electrical stimulation module performs a given intensity electrical stimulation on the specific position of the affected-side muscle based on the electrical stimulation intensity signal and the stimulation site signal; the upper processing module multiplies the angular velocity and acceleration in the original motion state data by the quality factor respectively to obtain motion state data, and sends the motion state data to the joint brace module, which adjusts the angular velocity and acceleration of the joint brace based on the motion state data.

[0034] When the quality factor reaches the quality factor threshold, the upper processing module stops inputting motion state data and real-time three-axis posture angles to the joint brace module, and sends the real-time three-axis posture angles to the visual module. The visual module uses the real-time three-axis posture angles as parameters of the joint model to dynamically display the dynamic trajectory of the joint. The joint module includes spheres representing the hip joint, knee joint and ankle joint, and connecting rods connecting each joint, thereby providing the patient with a three-dimensional joint dynamic trajectory diagram.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention receives sEMG signals of the affected-side muscles and the healthy-side muscles, as well as original motion state data in real time. In the early stage of recovery, the angle of the joint brace is adjusted based on the RMS value of the affected-side sEMG signal to reduce muscle loss. During the exercise stage, the electrical stimulation intensity and the electrical stimulation site are adjusted by the real-time received SEMG, so that electrical stimulation of a reasonable intensity can be performed on specific areas of the affected side at different times, thereby accurately training the muscles. At the same time, the real-time received SEMG realizes real-time adjustment of the angular velocity and acceleration of the joint brace. Based on the above two-point adjustment, the technical effect of reducing muscle loss while avoiding muscle fatigue as much as possible is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A system block diagram of a digital knee brace-based training and evaluation system provided in an embodiment of the present invention;

[0038] Figure 2A schematic flow chart of a method for evaluating knee joint training using a training evaluation system based on a digital knee joint brace provided in an embodiment of the present invention;

[0039] Figure 3 This is a diagram showing the function settings interface of the host computer processing module of the digital knee brace-based training and evaluation system provided in an embodiment of the present invention;

[0040] Figure 4 A diagram of electrical stimulation sites of a functional electrical stimulation module in a training and evaluation system based on a digital knee brace provided in an embodiment of the present invention;

[0041] Figure 5 The original sEMG signal of the healthy side acquired by the electromyography acquisition module in the training and evaluation system based on the digital knee brace provided in an embodiment of the present invention and the processed real-time data graph;

[0042] Figure 6 The original sEMG signal of the affected side acquired by the electromyography acquisition module and the processed real-time data graph in the training and evaluation system based on the digital knee brace provided in an embodiment of the present invention;

[0043] Figure 7 This is a three-dimensional joint dynamic trajectory diagram of the visual module of the training evaluation system based on the digital knee brace according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be noted that the following examples are intended to facilitate understanding of the present invention and do not have any limiting effect on the present invention.

[0045] The present invention provides a training and evaluation system based on a digital knee brace, such as Figure 1 As shown, it includes: electromyography acquisition module, IMU module, functional electrical stimulation module, joint support module, power supply module, host computer processing module and vision module.

[0046] The electromyographic acquisition module includes electromyographic acquisition electrodes and an electromechanical signal processing unit. The electromyographic acquisition electrodes are used to collect sEMG signals from the muscle surfaces of the healthy and affected sides. The electromechanical signal processing unit receives the sEMG signals from the muscle surfaces of the healthy and affected sides through signal lines and sends the sEMG signals to the upper processing module.

[0047] The IMU module includes a gyroscope, an accelerometer, a magnetometer and an IMU signal processing unit. The initial angular velocity of the joint brace is collected by the gyroscope, the initial acceleration of the joint brace is collected by the accelerometer, the initial angular velocity and initial acceleration are corrected by the magnetometer to obtain the original motion state data, and the original motion state data is sent to the upper processing module through the IMU signal processing unit.

[0048] The upper processing module is used to obtain the sEMG signal of the affected side muscle in real time, filter the sEMG signal, perform root mean square (RMS) on the filtered sEMG signal to obtain the corresponding RMS value, obtain the joint brace angle adjustment instruction based on the RMS value of the affected side muscle through the set mapping relationship between the RMS value of the affected side muscle and the joint brace angle, and send the joint brace angle adjustment instruction to the joint brace module;

[0049] The upper processing module is also used to obtain a quality factor based on the RMS deviation value of the healthy side muscle and the affected side muscle and the RMS value of the healthy side muscle when the RMS value of the affected side muscle reaches the RMS threshold of the exercise stage, construct an electrical stimulation intensity signal based on the maximum and minimum values of the quality factor, and send the electrical stimulation intensity signal to the functional electrical stimulation module.

[0050] The quality factor Q provided by the present invention is:

[0051]

[0052] RMS bias =RMS unaffected -RMS affected (1)

[0053] Among them, RMS unaffected is the RMS value of the healthy side muscle, RMS affected is the RMS value of the affected side muscle, RMS bias The RMS deviation value is obtained by filtering and square root processing the sEMG signals of the healthy and affected side muscles. bias and RMS unaffected The quality factor Q is used to express the degree of weakness of the affected side muscle relative to the healthy side muscle.

[0054] The electrical stimulation intensity signal Ir provided by the present invention is:

[0055]

[0056] Among them, I max Q is the maximum stimulation intensity pre-set during treatment. min The quality factor threshold at which the affected muscle does not need electrical stimulation to complete the movement, that is, the minimum value of the quality factor, Qmax The quality factor threshold required to trigger the maximum electrical stimulation intensity to assist in completing the action, that is, the maximum value of the quality factor.

[0057] The upper processing module is also used to perform data fusion and complementary filtering on the original motion state data to obtain the real-time three-axis posture angle when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, obtain the stimulation site signal based on the real-time three-axis posture angle through the set mapping relationship between the three-axis posture angle and the stimulation site, and send the stimulation site signal to the functional electrical stimulation module.

[0058] The upper processing module is also used to multiply the angular velocity and acceleration in the original motion state data by the quality factor to obtain motion state data when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic motion stage, and send the motion state data to the joint brace module.

[0059] The angular velocity signal V provided by the present invention r and acceleration signal A r They are:

[0060] V r =V×Q s

[0061] A r =A×Q s

[0062] Q s =1-Q (3)

[0063] Wherein, V is the angular velocity in the original motion state data, A is the acceleration in the original motion state data, and Q is the quality factor.

[0064] like Figure 3 As shown in the figure, the function setting interface of the upper processing module consists of three function windows, namely the electromyographic feedback electrical stimulation interface, the joint feedback electrical stimulation interface and the joint three-dimensional dynamic display interface; the electromyographic feedback electrical stimulation interface initialization requires setting the initial electrical stimulation intensity, the quality factor threshold Q to trigger the maximum electrical stimulation intensity to assist in completing the action max The quality factor threshold Q at which the affected muscle does not need electrical stimulation to complete the movement min , by electrical stimulation of the healthy and affected sides.

[0065] The functional electrical stimulation module is used to receive electrical stimulation intensity signals and stimulation site signals, obtain the intensity of electrical stimulation based on the electrical stimulation intensity signal, and obtain the specific location of the affected muscle to be stimulated based on the stimulation site signal, so as to accurately stimulate the affected muscle according to the input signal of the upper processing module; the electrical stimulation intensity signal includes the pulse width, frequency and amplitude of the electrical stimulation.

[0066] The joint brace module is used to adjust the fixed angle of the joint brace based on the joint brace angle adjustment instruction in the early stage of repair. The fixed angle range is -10° to 120°. It is also used to adjust the angular velocity and acceleration of the joint brace based on the motion status data when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic motion stage.

[0067] The visual module is used to receive the real-time three-axis posture angle and use it as the parameter of the joint model to dynamically display the dynamic trajectory of the joint. The joint module includes spheres representing the hip joint, knee joint and ankle joint, as well as connecting rods connecting each joint.

[0068] The power module is used to supply voltage to the EMG acquisition module, IMU module, functional electrical stimulation module, and joint brace module. The power module's initial supply voltage is +7.4V. The +1.8V, +3.3V, and +5V voltages are stabilized by LDO chips and supplied to the IMU module, EMG acquisition module, and functional electrical stimulation module, respectively. The +40V voltage is boosted by a voltage sampling DC-DC boost circuit, with a maximum boost ratio of 10 times, providing the maximum electrical stimulation voltage required by the functional electrical stimulation module.

[0069] The present invention also uses the digital knee brace-based training evaluation system to evaluate knee joint training for rehabilitation treatment of knee joints, such as Figure 2 Shown, including:

[0070] (1) Initial fixed rehabilitation treatment stage, including:

[0071] Within 2 weeks after surgery, the time is determined based on the time before the RMS value of the sEMG signal of the affected muscle reaches the RMS threshold of the dynamic movement stage. During the initial fixation rehabilitation treatment stage, the joint brace module's fixation mode is used to fix the joint at the corresponding angle.

[0072] The initial fixed angle of the joint brace module provided by the present invention is fixed in the straight position, and at the same time, the electromyography acquisition module is controlled to collect sEMG signals of the healthy and affected side muscles, and the sEMG signals of the healthy and affected side muscles are input to the upper processing module. The upper processing module judges the actual situation of the affected side recovery based on the root mean square value RMS of the sEMG signal actually measured, that is, the joint brace angle adjustment instruction is sent to the joint brace based on the relationship between RMS and the fixed angle. The joint brace module adjusts the fixed angle of the joint brace based on the joint brace angle adjustment instruction. By adjusting the fixed angle in real time based on the sEMG signal of the affected side muscle, the loss of the affected side muscle is reduced, which is conducive to the recovery of the affected side muscle.

[0073] (2) Mid-term passive exercise rehabilitation treatment stage, including:

[0074] The period of 3 to 6 weeks after surgery is in the passive exercise rehabilitation treatment stage, which is determined based on the quality factor threshold. When the RMS value of the affected side muscle reaches the RMS threshold of the dynamic exercise stage, and before the quality factor reaches the quality factor threshold, it is the passive exercise rehabilitation treatment stage.

[0075] Passive motion-assisted electrical stimulation therapy for the affected muscles includes: when the RMS value of the affected muscle reaches the RMS threshold of the dynamic motion phase, during joint flexion and extension movements, controlling the myoelectric acquisition module to collect sEMG signals from the healthy and affected muscles on both sides of the body, respectively; the upper processing module obtains the sEMG signals of the healthy and affected muscles in real time; after bandpass filtering at 20-500 Hz, a quality factor is obtained based on the RMS deviation of the processed sEMG signals of the healthy and affected muscles and the RMS value of the affected muscle; an electrical stimulation intensity signal is constructed based on the maximum and minimum values of the quality factor; and the electrical stimulation intensity signal is sent to the functional electrical stimulation module. The upper processing module also receives raw motion state data from the IMU module in real time, performs data fusion and complementary filtering on the raw motion state data to obtain a real-time three-axis attitude angle; based on the real-time three-axis attitude angle and the set correspondence between the three-axis attitude angle and the stimulation site, a stimulation site signal is obtained, and the stimulation site signal is sent to the functional electrical stimulation module. The functional electrical stimulation module performs electrical stimulation of a given intensity to the specific location of the affected muscle based on the electrical stimulation intensity signal and the stimulation site signal.

[0076] The upper processing module multiplies the angular velocity and acceleration in the original motion state data by the quality factor to obtain motion state data, and sends the motion state data to the joint brace module. The joint brace module adjusts the angular velocity and acceleration of the joint brace based on the motion state data.

[0077] The present invention obtains the force-generating muscles of the joint at different three-axis posture angles based on the test, and the real-time selection of the force-generating muscles for electrical stimulation can better conform to the force-generating law of the human body and achieve good therapeutic effects. Therefore, the present invention determines the correspondence between the three-axis posture angle and the stimulation site according to the force-generating muscles of the joint at different three-axis posture angles. Taking the knee joint as an example, the correspondence between the three-axis posture angle and the stimulation site is determined by measurement. In the process from flexion to extension of the knee joint, the force is mainly generated by the quadriceps femoris. When the bending angle of the knee joint is 0° to 20°, the force is mainly generated by the vastus medialis muscle, so the stimulation site of the vastus medialis muscle is stimulated. When the bending angle is 20° to 90°, the force is mainly generated by the vastus lateralis muscle, so the stimulation site of the vastus lateralis muscle is stimulated. When the bending angle is 90° to 140°, the force is mainly generated by the rectus femoris muscle, so the stimulation site of the rectus femoris muscle is stimulated. Figure 4 shown.

[0078] like Figure 5 As shown in the figure, during the process of knee joint flexion to extension, the original sEMG signal, filtered sEMG signal and RMS signal of the healthy side with a force time of 60s for a complete treatment action. One force action is a complete joint flexion and extension action with a force time of 10s, followed by a 10s rest, and then three force actions are completed. It can be clearly seen that the RMS value of the three force actions fluctuates between 50 and 150uv.

[0079] like Figure 6 As shown in the figure, the original sEMG signal obtained from a complete treatment action on the affected side and the processed real-time data graph include Figure 5 In addition to the original sEMG signal, filtered sEMG signal and RMS signal, it also includes the feedback electrical stimulation parameter Ir and the feedback coefficient Q. These two real-time data are obtained through the electromyographic feedback algorithm. It can be clearly seen that the RMS value of the three force-generating actions on the affected side fluctuates between 25 and 100uv, and the force-generating ability is significantly weakened compared with the healthy side. It can also be seen that the feedback electrical stimulation parameter Ir changes with the change of the quality factor Q. Therefore, the threshold of the feedback current can be limited by controlling the quality factor Q to achieve safe and effective electrical stimulation therapy. As a preferred option, the quality factor Q max Set to 0.9, Q min Set to 0.2.

[0080] (3) Late active exercise rehabilitation treatment stage, including:

[0081] The passive exercise rehabilitation stage is carried out 6 to 12 weeks after surgery. After the quality factor reaches the quality factor threshold, the quality factor threshold Q is reached where the affected side muscles do not need electrical stimulation to assist in completing the movement. min The previous period is considered as the late active exercise rehabilitation stage. At this stage, the patient has initially recovered the ability to perform active and complete flexion and extension movements, so the passive exercise mode is changed to the active exercise mode, and the patient actively exerts force to perform the complete treatment movement. At the same time, electrical stimulation treatment continues according to formula (3).

[0082] When in the late stage of active motion rehabilitation treatment, the upper processing module stops inputting motion status data and real-time three-axis posture angles to the joint brace module, and sends the real-time three-axis posture angles to the visual module. The visual module uses the real-time three-axis posture angles as parameters of the joint model to dynamically display the dynamic trajectory of the joint. The joint module includes spheres representing the hip joint, knee joint and ankle joint, and connecting rods connecting each joint, thereby providing the patient with a three-dimensional joint dynamic trajectory diagram. The real-time joint dynamic display can give the patient good visual feedback, which promotes the patient to complete active motion rehabilitation treatment.

[0083] like Figure 7As shown in the three-dimensional joint dynamic trajectory diagram, three spheres Coxa, Knee and Ankle are set to represent the hip joint, knee joint and ankle joint respectively, and two connecting rods are set to represent the thigh and calf to connect each joint. The real-time three-axis attitude angle parameter value of the motion state data obtained by the IMU module is used as input to simulate the three-dimensional joint dynamic trajectory of the affected side. The rate of change of the dynamic diagram changes according to the sampling rate of the IMU module, which is about 1KSps in this system.

[0084] After testing, it was found that patients with minor fractures whose recovery period was about 14 weeks had their recovery time reduced to less than 12 weeks after using this rehabilitation treatment evaluation system, and patients with severe fractures whose recovery period was about 28 weeks had their recovery time reduced to less than 24 weeks after using this rehabilitation treatment evaluation system. The test results show that the three-stage treatment method of this rehabilitation treatment evaluation system can well provide rehabilitation treatment of appropriate intensity and method according to the characteristics of individual patients. The electromyographic feedback electrical stimulation mode can well adjust the electrical stimulation intensity according to the patient's sEMG signal. At the same time, the joint feedback effect is achieved based on the real-time joint angle data of the joint angle feedback electrical stimulation mode, and the electrical stimulation intensity and electrical stimulation site are controlled in real time to achieve the effect of intelligently regulating the intensity and form of rehabilitation treatment. Finally, the three-dimensional dynamic trajectory of the patient's joints is drawn in real time through the three-dimensional dynamic display mode of the joints, achieving good visual feedback effect and promoting patients to complete active movement rehabilitation treatment.

[0085] The system provided by the present invention defines different rehabilitation treatment methods according to different stages after surgery. Compared with traditional rehabilitation treatment methods, it is more accurate and can change the rehabilitation treatment method in real time according to the patient's recovery stage, accurately evaluating the patient's recovery status.

[0086] The system provided by the present invention forms a multi-module rehabilitation treatment evaluation, which is more diverse than the traditional single rehabilitation treatment method. It adds an electromyography acquisition module to monitor the patient's affected side muscles in real time, a functional electrical stimulation module to provide accurate and appropriate electrical stimulation auxiliary treatment to the patient, and a joint brace module to perform passive and active rehabilitation exercises for the patient, effectively reducing the problem of muscle fatigue caused by a single treatment method.

[0087] The system provided by the present invention has added a feedback rehabilitation treatment method, which is more in line with the actual muscle atrophy conditions of each individual compared to traditional treatment methods. It has added an electromyography acquisition feedback electrical stimulation mode, and sets the electrical stimulation parameter size according to the real-time electromyography data of the affected side. It has also added a joint angle feedback electrical stimulation mode, and sets the electrical stimulation site according to the joint angle of the affected side. It effectively avoids the current situation of rehabilitation treatment difficulties caused by physiological differences between different individuals, and solves problems that traditional rehabilitation treatment cannot solve.

[0088] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A training and evaluation system based on a digital knee brace, characterized in that: include: The myoelectric acquisition module is used to collect sEMG signals from the healthy and affected side muscles and input the sEMG signals to the upper processing module; IMU module, used to collect original motion state data of the healthy and affected side muscles; The upper processing module is used to obtain the sEMG signal of the affected side muscle in real time, obtain the RMS value of the sEMG signal of the affected side muscle, and send the joint brace angle adjustment instruction to the joint brace module based on the RMS value of the affected side muscle; it is also used to obtain the quality factor based on the RMS deviation value of the healthy side muscle and the affected side muscle and the RMS value of the healthy side muscle when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, construct the electrical stimulation intensity signal based on the maximum and minimum values of the quality factor, and send the electrical stimulation intensity signal to the functional electrical stimulation module; it is also used to perform data fusion and complementary filtering on the original motion state data to obtain the real-time three-axis attitude angle when the RMS value of the affected side muscle reaches the RMS threshold of the motion stage, obtain the stimulation site signal based on the real-time three-axis attitude angle through the set correspondence between the three-axis attitude angle and the stimulation site, and send the stimulation site signal to the functional electrical stimulation module; it is also used to multiply the angular velocity and acceleration in the original motion state data by the quality factor to obtain motion state data when the RMS value of the affected side muscle reaches the RMS threshold of the dynamic movement stage, and send the motion state data to the joint brace module; A functional electrical stimulation module, configured to provide electrical stimulation of a given intensity to a specific location of the affected muscle based on an electrical stimulation intensity signal and a stimulation site signal; The joint brace module is used to adjust the fixed angle of the joint brace based on the joint brace angle adjustment instruction; it is also used to adjust the angular velocity and acceleration of the joint brace based on the motion state data.

2. The digital knee brace-based training and evaluation system according to claim 1, characterized in that: The electromyographic acquisition module includes electromyographic acquisition electrodes and an electromechanical signal processing unit. The electromyographic acquisition electrodes are used to collect sEMG signals from the muscle surfaces of the healthy side and the affected side. The electromechanical signal processing unit receives the sEMG signals from the muscle surfaces of the healthy side and the affected side through a signal line and sends the sEMG signals to the upper processing module.

3. The training and evaluation system based on digital knee brace according to claim 1, characterized in that: The IMU module includes a gyroscope, an accelerometer, a magnetometer and an IMU signal processing unit. The gyroscope is used to collect the initial angular velocity of the joint brace, the accelerometer is used to collect the initial acceleration of the joint brace, the magnetometer is used to correct the initial angular velocity and initial acceleration to obtain original motion state data, and the IMU signal processing unit sends the original motion state data to the upper processing module.

4. The training and evaluation system based on digital knee brace according to claim 1, characterized in that: The quality factor Q obtained based on the RMS deviation value of the healthy side muscle and the affected side muscle and the RMS value of the healthy side muscle is: RMS bias =RMS unaffected -RMS affected Among them, RMS unaffected is the RMS value of the healthy side muscle, RMS affected is the RMS value of the affected side muscle, RMS bias The RMS deviation value is obtained by filtering the sEMG signals of the healthy and affected side muscles and performing square root processing. bias and RMS unaffected The quality factor Q is used to express the degree of weakness of the affected side muscle relative to the healthy side muscle.

5. The training and evaluation system based on a digital knee brace according to claim 1 or 4, characterized in that: The electrical stimulation intensity signal Ir constructed based on the maximum and minimum values of the quality factor is: Among them, I max Q is the maximum stimulation intensity pre-set during treatment. min The quality factor threshold at which the affected muscle does not need electrical stimulation to complete the movement, that is, the minimum value of the quality factor, Q max The quality factor threshold required to trigger the maximum electrical stimulation intensity to assist in completing the action, that is, the maximum value of the quality factor.

6. The training and evaluation system based on digital knee brace according to claim 1, characterized in that: The angular velocity signal V is obtained by multiplying the angular velocity and acceleration in the original motion state data by the quality factor. r and acceleration signal A r They are: In r =V×Q s A r =A×Q s Q s =1-Q Wherein, V is the angular velocity in the original motion state data, A is the acceleration in the original motion state data, and Q is the quality factor.

7. The training and evaluation system based on digital knee brace according to claim 1, characterized in that: The electrical stimulation intensity signal received by the functional electrical stimulation module includes the pulse width, frequency and amplitude of the electrical stimulation.

8. The digital knee brace-based training and evaluation system according to claim 1, characterized in that: It also includes a visual module for receiving real-time three-axis posture angles and using the real-time three-axis posture angles as parameters of the joint model to dynamically display the dynamic trajectory of the joint. The joint model includes spheres representing the hip joint, knee joint and ankle joint, and connecting rods connecting each joint.

9. The digital knee brace-based training and evaluation system according to claim 1, characterized in that: It also includes a power supply module for supplying power to the electromyography acquisition module, IMU module, functional electrical stimulation module and joint brace module.

10. A method for evaluating knee joint training using the training evaluation system based on a digital knee brace as claimed in claim 8, characterized in that: include: The knee joint is fixed at an angle by a joint brace, and sEMG signals of the muscles on the healthy side and the affected side are collected by an electromyographic acquisition module, and the sEMG signals are input into an upper processing module. The upper processing module obtains the sEMG signal of the affected side muscle in real time, and obtains the RMS value of the sEMG signal of the affected side muscle. Based on the RMS value of the affected side muscle, a joint brace angle adjustment instruction is sent to the joint brace module. The joint brace module adjusts the fixed angle of the joint brace based on the joint brace angle adjustment instruction. When the RMS value of the affected-side muscle reaches the RMS threshold of the dynamic movement stage, the upper processing module obtains the sEMG signals of the healthy-side and affected-side muscles in real time, obtains the quality factor based on the RMS deviation value of the healthy-side muscle and the affected-side muscle and the RMS value of the affected-side muscle, constructs the electrical stimulation intensity signal based on the maximum and minimum values of the quality factor, and sends the electrical stimulation intensity signal to the functional electrical stimulation module; the upper processing module also receives the original motion state data from the IMU module in real time, performs data fusion and complementary filtering on the original motion state data to obtain the real-time three-axis attitude angle, obtains the stimulation site signal based on the real-time three-axis attitude angle through the set correspondence between the three-axis attitude angle and the stimulation site, and sends the stimulation site signal to the functional electrical stimulation module; the functional electrical stimulation module performs a given intensity electrical stimulation on the specific position of the affected-side muscle based on the electrical stimulation intensity signal and the stimulation site signal; the upper processing module multiplies the angular velocity and acceleration in the original motion state data by the quality factor respectively to obtain motion state data, and sends the motion state data to the joint brace module, and the joint brace module adjusts the angular velocity and acceleration of the joint brace based on the motion state data; When the quality factor reaches the quality factor threshold, the upper processing module stops inputting motion status data and real-time three-axis posture angle to the joint brace module, and sends the real-time three-axis posture angle to the visual module. The visual module uses the real-time three-axis posture angle as a parameter of the joint model to dynamically display the dynamic trajectory of the joint, thereby providing the patient with a three-dimensional joint dynamic trajectory diagram.

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