A hybrid brain-computer interface rehabilitation training method and system

Abstract

The present invention discloses a rehabilitation training method for a hybrid brain-computer interface, which is characterized by comprising: an electroencephalogram (EEG) signal analysis unit analyzing collected EEG signals to obtain an electrical stimulation channel control signal; a plantar pressure signal analysis unit analyzing the collected plantar pressure signal to obtain an immediate electrical stimulation intensity, and outputting an immediate electrical stimulation intensity control signal based on the immediate electrical stimulation intensity; an electrical stimulator control unit determining a first output result of the electrical stimulator control unit based on the electrical stimulation channel control signal, and determining a second output result of the electrical stimulator control unit based on the immediate electrical stimulation intensity control signal; and the electrical stimulator control unit determining a working state of the electrical stimulator based on the first output result and the second output result. The present invention uses EEG signals and plantar pressure signals to jointly control the working state of the electrical stimulator, which can promote the user to use the "brain" to try their best to control the damaged spinal cord during rehabilitation, thereby restoring the function of the lower limbs.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation after severe spinal cord injury in the lower thoracic and lumbar segments, and in particular to a rehabilitation training method and system for a hybrid brain-computer interface. Background Art

[0002] After a user suffers a severe spinal cord injury in the lower thoracic or lumbar regions, the spinal cord tissue below the injury level loses its connection with the brain, resulting in motor and sensory impairments. These impairments can significantly affect the user's ability to walk. In severe cases, they can completely disable the user's mobility, requiring them to rely on a wheelchair for the rest of their life, significantly impacting their quality of life and ability to carry out daily activities.

[0003] To address the problem of lower limb sensory and motor impairment in users with severe spinal cord injuries, existing brain-computer interface rehabilitation research often uses a "replacement" approach. This involves analyzing and classifying complex EEG data, generating several different control signals to direct an exoskeleton robot or perform functional electrical stimulation to assist the user in walking.

[0004] Existing technologies primarily focus on "replacing lost function" and do not emphasize improving the user's lower limb function through long-term active control and rehabilitation training. While this treatment approach "restores" lost function to some extent, it ignores the fact that nerves retain a certain degree of plasticity after injury, which can be improved through long-term, repetitive, high-intensity, and targeted rehabilitation training. Summary of the Invention

[0005] To address the problems existing in the prior art, allow users to conduct reasonable and effective lower limb functional rehabilitation training, attempt to improve the function of the brain and damaged spinal cord, promote the functional remodeling of the central nervous system, and fundamentally improve the user's lower limb function, the present invention proposes a hybrid brain-computer interface rehabilitation training method, including:

[0006] The EEG signal acquisition device collects EEG signals, the pressure sensor collects plantar pressure signals, and the overhead rail weight loss device obtains the user's weight data and weight loss data;

[0007] The EEG signal analysis unit analyzes the collected EEG signals to obtain an electrical stimulation channel control signal; the plantar pressure signal analysis unit analyzes the collected plantar pressure signals, obtains the actual load parameter based on the plantar pressure signal, and calculates the instantaneous electrical stimulation intensity based on the actual load parameter, the user's weight data, and the weight loss data, and outputs an instantaneous electrical stimulation intensity control signal based on the instantaneous electrical stimulation intensity;

[0008] The electrical stimulator control unit determines a first output result of the electrical stimulator control unit according to the electrical stimulation channel control signal, and determines a second output result of the electrical stimulator control unit according to the instant electrical stimulation intensity control signal;

[0009] The electrical stimulator control unit determines the working state of the electrical stimulator according to the first output result and the second output result.

[0010] Specifically, the instantaneous electrical stimulation intensity is calculated based on the actual load parameters, the user's weight data, and the weight loss data. The specific calculation method is:

[0011] Instantaneous electrical stimulation intensity = set electrical stimulation intensity * [actual load parameter / (user weight data - user weight loss data)];

[0012] Among them, the setting of the electrical stimulation intensity is pre-set according to the user's situation; the user's weight data is obtained according to the measurement of the weight by the overhead rail weight reduction device, and the weight reduction data is obtained according to the setting of the overhead rail weight reduction device.

[0013] Specifically, the electrical stimulation channel control signal determines whether the left and right channels of the electrical stimulator are working, and the first output result includes "left channel working", "left channel not working", "right channel working", and "right channel not working";

[0014] The instantaneous electrical stimulation intensity control signal determines the "output intensity" of the electrical stimulator, and the second output result includes "left channel output intensity", "right channel output intensity", and 0.

[0015] Specifically, when the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity control signal;

[0016] When the first output result of the electrical stimulator control unit is determined to be "left channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal;

[0017] When the first output result of the electrical stimulator control unit is determined to be "right channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "right channel output intensity" according to the obtained instant electrical stimulation intensity control signal;

[0018] When the first output result of the electrical stimulator control unit is determined to be "right channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained immediate electrical stimulation intensity control signal.

[0019] Specifically, the EEG signal analysis unit analyzes the collected EEG signals using the common spatial pattern (CSP) algorithm to obtain the user's movement intention and ultimately obtain the electrical stimulation channel control signal.

[0020] The present invention also proposes a hybrid brain-computer interface rehabilitation training system, comprising: an EEG signal acquisition device, a control system, a pressure sensor, an electrical stimulator, and a sky rail weight reduction device; wherein the control system includes an EEG signal analysis unit, a plantar pressure signal analysis unit, and an electrical stimulator control unit;

[0021] The EEG signal acquisition device acquires EEG signals, the pressure sensor acquires plantar pressure signals, and the overhead rail weight loss device acquires the user's weight data and weight loss data;

[0022] The EEG signal analysis unit analyzes the collected EEG signals to obtain an electrical stimulation channel control signal; the plantar pressure signal analysis unit analyzes the collected plantar pressure signals, obtains the actual load parameter based on the plantar pressure signal, and calculates the instantaneous electrical stimulation intensity based on the actual load parameter, the user's weight data, and the weight loss data, and outputs an instantaneous electrical stimulation intensity control signal based on the instantaneous electrical stimulation intensity;

[0023] The electrical stimulator control unit determines a first output result of the electrical stimulator control unit according to the electrical stimulation channel control signal, and determines a second output result of the electrical stimulator control unit according to the instant electrical stimulation intensity control signal;

[0024] The electrical stimulator control unit determines the working state of the electrical stimulator according to the first output result and the second output result.

[0025] Specifically, the instantaneous electrical stimulation intensity is calculated based on the actual load parameters, the user's weight data, and the weight loss data. The specific calculation method is:

[0026] Instantaneous electrical stimulation intensity = set electrical stimulation intensity * [actual load parameter / (user weight data - user weight loss data)];

[0027] Among them, the setting of the electrical stimulation intensity is pre-set according to the user's situation; the user's weight data is obtained according to the measurement of the weight by the overhead rail weight reduction device, and the weight reduction data is obtained according to the setting of the overhead rail weight reduction device.

[0028] Specifically, the electrical stimulation channel control signal determines whether the left and right channels of the electrical stimulator are working, and the first output result includes "left channel working", "left channel not working", "right channel working", and "right channel not working";

[0029] The instantaneous electrical stimulation intensity control signal determines the "output intensity" of the electrical stimulator, and the second output result includes "left channel output intensity", "right channel output intensity", and 0.

[0030] Specifically, when the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity control signal;

[0031] When the first output result of the electrical stimulator control unit is determined to be "left channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal;

[0032] When the first output result of the electrical stimulator control unit is determined to be "right channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "right channel output intensity" according to the obtained instant electrical stimulation intensity control signal;

[0033] When the first output result of the electrical stimulator control unit is determined to be "right channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained immediate electrical stimulation intensity control signal.

[0034] Specifically, the EEG signal analysis unit analyzes the collected EEG signals using the common spatial pattern (CSP) algorithm to obtain the user's movement intention and ultimately obtain the electrical stimulation channel control signal.

[0035] Compared with the existing technology, the present invention takes non-invasive brain-computer interface technology as the core, integrates functional electrical stimulation, plantar pressure detection and analysis, and overhead rail weight-reduction walking training, adopts a non-invasive brain-computer interface with strong anti-interference ability and easy portability as the neural interface device, and uses a simple CSP binary classification (i.e. imagine "left" and "right") to determine the working state of functional electrical stimulation. It organically combines "wireless brain-computer interface", "functional electrical stimulation", "plantar pressure detection", "overhead rail weight-reduction device" and commonly used rehabilitation assistive devices (knee-ankle-foot orthosis, walker), and through a systematic rehabilitation training program, assists "users with severe lower thoracic and lumbar spinal cord injuries" to fundamentally carry out rehabilitation training of damaged nerve functions, rather than "external equipment replacing the missing limb function", stimulates the user's subjective will, and reshapes nerve function.

[0036] At the same time, the present invention uses EEG signals and plantar pressure signals to jointly control the working state of the electric stimulator, which can promote the user to use the "brain" to try his best to control the damaged spinal cord during rehabilitation, and then restore the function of the lower limbs, rather than simply relying on compensation from weight loss systems, orthoses and walkers to conduct "seemingly active but actually passive" rehabilitation training, truly realizing "active rehabilitation training with feedback and subjective will". BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a structural diagram of a hybrid brain-computer interface rehabilitation training system of the present invention;

[0038] Figure 2 This is a schematic diagram of an application scenario of a hybrid brain-computer interface rehabilitation training system of the present invention;

[0039] Figure 3 Schematic diagram of a flow chart of a hybrid brain-computer interface rehabilitation training method of the present invention;

[0040] Figure 4 Shown is a schematic diagram of the walking training process under the functional electrical stimulation logic controlled by the brain-computer interface of the present invention. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] Users with severe spinal cord injuries in the lower thoracic and lumbar regions have the following injury characteristics:

[0043] (1) Standing stabilizing muscles: lower lumbar and abdominal muscles, bilateral quadriceps, gluteus medius, and gluteus maximus, which are generally more severely damaged.

[0044] (2) The muscles responsible for "walking": the iliopsoas and biceps femoris, have partially retained their functions. However, the quadriceps femoris, which also has the function of "hip flexion and walking", is more severely damaged.

[0045] For users with severe spinal cord injuries in the lower thoracic and lumbar segments, the present invention proposes a hybrid brain-computer interface rehabilitation training system. Figure 1 The figure shows the structure of a hybrid brain-computer interface rehabilitation training system according to the present invention, which includes an EEG signal acquisition device, a control system, a pressure sensor, an electrical stimulator, and a sky rail weight reduction device. The control system includes an EEG signal analysis unit, a plantar pressure signal analysis unit, and an electrical stimulator control unit.

[0046] Below, we explain each component of a hybrid brain-computer interface rehabilitation training system one by one.

[0047] EEG signal acquisition device: In this invention, the EEG signal acquisition device is a noninvasive brain-computer interface based on EEG. Using scalp electrodes, it collects EEG signals through a conductive gel or conductive medium and transmits them to a control system, which then detects and analyzes the collected EEG signals. Using different EEG analysis methods, EEG signals can be classified to determine the user's motor intentions, thereby achieving the goal of using "motor imagery" to control external devices.

[0048] Pressure Sensor: This pressure sensor, placed in the form of an insole, senses pressure changes on the soles of the user's feet. By analyzing the user's physiological parameters, the system determines the weight load on the user's lower limbs and changes in the body's center of gravity, and then uses this feedback to adjust the intensity of the functional electrical stimulation. Specifically, the greater the relative input from the bilateral pressure sensors, the stronger the electrical stimulation on the corresponding lower limbs.

[0049] Electrical stimulator: Electrical stimulation belongs to the category of neuromuscular electrical stimulation. The electrical stimulator uses a low-frequency pulse current of a certain intensity to stimulate one or more groups of muscles through a pre-set program, inducing muscle movement or simulating normal autonomous movement, so as to achieve the purpose of improving or restoring the function of the stimulated muscles or muscle groups.

[0050] The electrical stimulator used in the present invention is a 6-channel wireless functional electrical stimulator, and the electrical stimulator control system communicates wirelessly. The 6 channels correspond to the gluteus maximus, gluteus medius, and quadriceps femoris on both sides.

[0051] Control System: The control system consists of a computer and a wireless router connected to it. The control system is connected to the EEG signal acquisition device, pressure sensor, and electrical stimulator via the wireless router. The control system analyzes the collected EEG signals to determine the user's movement intention. It also determines the operating status of the electrical stimulator based on input from the electrical stimulator's plantar pressure sensor, weight loss data from the overhead rail weight loss system, and the actual application scenario.

[0052] The control system includes a plantar pressure signal analysis unit, an electroencephalogram signal analysis unit, and an electrical stimulator control unit.

[0053] The EEG signal analysis unit is used to receive the collected EEG signals and analyze the EEG signals.

[0054] The plantar pressure signal analysis unit is used to receive the collected plantar pressure signal and analyze the plantar pressure signal.

[0055] The overhead rail weight-reducing device can obtain the user's weight data and weight-loss data. The weight data is the user's weight. The weight-loss data is the weight reduced by the overhead rail weight-reducing device compared to the user's weight. The setting of the electrical stimulation intensity is pre-set according to the user's own situation and is set in the plantar pressure signal analysis unit. The overhead rail weight-reducing walking training relies on the track and weight-reducing device fixed to the ceiling, allowing the user to safely perform standing, center of gravity transfer, stepping and other walking-related rehabilitation training with or without the help of a walker and orthosis while reducing his or her own weight. In the present invention, the overhead rail weight-reducing device supports the user's torso through a suspension belt.

[0056] The electric stimulator control unit determines the working state of the electric stimulator according to the collected EEG signals and plantar pressure signals.

[0057] In the present invention, the rehabilitation training system also includes a lower limb stabilization device that stabilizes the knee and ankle joints through knee-ankle-foot orthoses to assist the user in standing. Pressure sensors integrated with the functional electrical stimulator are installed on the soles of both feet of the user.

[0058] like Figure 2 As shown, Figure 2 The figure is a schematic diagram of an application scenario of a hybrid brain-computer interface rehabilitation training system of the present invention. In the present invention, the rehabilitation training system also includes a walker, which helps the user walk by selecting a universal height-adjustable walker.

[0059] The user uses a SkyRail weight-loss training system to maintain trunk stability and a knee-ankle-foot orthosis (KAFO) to stabilize their legs. While simultaneously maintaining functional standing with both upper limbs supporting a walker, the user maintains a functional stance. Furthermore, a wireless brain-computer interface detects the subject's EEG signals, analyzes movement intentions through a control system, and then wirelessly controls functional electrical stimulation to sequentially stimulate the gluteus maximus, gluteus medius, and quadriceps muscles of users with severe spinal cord injuries, achieving the goal of a rehabilitation program related to walking function.

[0060] The weight loss target for the SkyRail weight-loss device starts at 70% of the user's body weight and gradually decreases as the user progresses through rehabilitation training. During this time, the user will need to use a walker and knee-ankle-foot orthosis, while performing various rehabilitation training sessions using a brain-computer interface and functional electrical stimulation.

[0061] For users with severe spinal cord injuries in the lower thoracic and lumbar segments, the present invention also proposes a hybrid brain-computer interface rehabilitation training method, such as Figure 3 As shown, the following steps are included:

[0062] Step 1: EEG signals are collected using an EEG signal acquisition device, plantar pressure signals are collected using a pressure sensor, and the user's weight and weight loss data are obtained using the ceiling rail weight reduction device. The user's weight data is the user's weight. The weight loss data is the amount of weight reduced by the ceiling rail weight reduction device. The ceiling rail weight reduction walking training relies on a ceiling-mounted track and weight reduction device, which can be used to obtain the user's weight and weight loss data.

[0063] In the present invention, EEG signals are collected non-invasively using an EEG signal acquisition device, which is a 32-lead EEG cap that uses gel electrodes to contact the scalp and transmit EEG signals to a wireless transmitter.

[0064] The plantar pressure signal is collected by a pressure sensor under both feet. In the present invention, the pressure sensor is an insole-type plantar pressure sensor. The plantar pressure signal collected by the insole-type plantar pressure sensor is sent to the plantar pressure signal analysis unit of the control system.

[0065] In the present invention, the collection of EEG signals and plantar pressure signals, and the acquisition of weight data and weight loss data are all carried out in real time, without any order.

[0066] Step 2: The EEG signal analysis unit analyzes the collected EEG signals to obtain an electrical stimulation channel control signal. The plantar pressure signal analysis unit analyzes the collected plantar pressure signals, obtains the actual load parameter based on the plantar pressure signal, and calculates the instantaneous electrical stimulation intensity based on the actual load parameter, the user's weight data, and the weight loss data. Based on the instantaneous electrical stimulation intensity, an instantaneous electrical stimulation intensity control signal is output. In the present invention, the EEG signal analysis unit analyzes the collected EEG signals using a common spatial pattern (CSP) algorithm to obtain the user's left upper limb or right lower limb movement intention, ultimately obtaining the electrical stimulation channel control signal.

[0067] In the present invention, the instantaneous electrical stimulation intensity = the set electrical stimulation intensity * [actual weight-bearing parameter / (user weight data - user weight loss data)].

[0068] The electrical stimulation intensity is set according to the user's individual condition. The user's weight data is obtained by weight measurement, and the user's weight loss data is obtained by the overhead rail weight loss device. The user's weight data and the user's weight loss data are input into the plantar pressure signal analysis unit.

[0069] The EEG signals are transmitted to the control system via a wireless transmitter, and the EEG signal analysis unit analyzes the collected EEG signals under "motor imagination". The EEG signal analysis unit uses the Common Spatial Pattern (CSP) algorithm to extract the spatial distribution components of each category of multi-channel brain-computer interface data. In the present invention, a two-classification task of imagining "left leg" and "right leg" is used. That is, if the user tries to imagine the movement of the left leg, the EEG signal analysis unit can output the "left leg movement" signal to other programs in the control system; if the user tries to imagine the movement of the right leg, the EEG signal analysis unit can output the "right leg movement" signal to other programs in the control system.

[0070] In the present invention, the analysis of the EEG signal and the plantar pressure signal are both performed in real time without any order.

[0071] Step 3: The electrical stimulator control unit determines a first output result of the electrical stimulator control unit according to the electrical stimulation channel control signal; the electrical stimulator control unit determines a second output result of the electrical stimulator control unit according to the instant electrical stimulation intensity control signal.

[0072] In the present invention, the electrical stimulation channel control signal and the immediate electrical stimulation intensity control signal are both transmitted to the electrical stimulator control unit, and the electrical stimulator control unit determines the working state of the electrical stimulator based on the electrical stimulation channel control signal and the immediate electrical stimulation intensity control signal.

[0073] Among them, the electrical stimulation channel control signal determines whether the left and right channels of the electrical stimulator are "working or not". The first output results of the electrical stimulator control unit in the present invention include "left channel working", "left channel not working", "right channel working", and "right channel not working".

[0074] The instantaneous electrical stimulation intensity control signal determines the "output intensity" of the electrical stimulator. The second output result of the electrical stimulator control unit in the present invention includes "left channel output intensity", "right channel output intensity", and 0.

[0075] The left channel output intensity is between 0 and the maximum output intensity of the left channel.

[0076] The right channel output intensity is between 0 and the maximum output intensity of the right channel.

[0077] Step 4: The electrical stimulator control unit determines the working state of the electrical stimulator according to the first output result and the second output result.

[0078] In the present invention, if the first output result is determined to be "left channel working" based on the obtained electrical stimulation channel control signal, then the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" based on the obtained instant electrical stimulation intensity control signal, then the working state of the electrical stimulator is "left channel working in working state".

[0079] If the first output result of the electric stimulator control unit is determined to be "left channel not working" based on the obtained electric stimulation channel control signal, and then the second output result of the electric stimulator control unit is determined to be 0 based on the obtained immediate electric stimulation intensity control signal, then the working state of the electric stimulator is "not working".

[0080] If the first output result of the electric stimulator control unit is determined to be "right channel working" based on the obtained electric stimulation channel control signal, and then the second output result of the electric stimulator control unit is determined to be "right channel output intensity" based on the obtained immediate electric stimulation intensity control signal, then the working state of the electric stimulator is "right channel working in working state".

[0081] If the first output result of the electric stimulator control unit is determined to be "right channel not working" based on the obtained electric stimulation channel control signal, and then the second output result of the electric stimulator control unit is determined to be 0 based on the obtained immediate electric stimulation intensity control signal, then the working state of the electric stimulator is "not working".

[0082] The present invention will be further explained below using the example of "weight-bearing the left leg." When the user imagines exerting force on their left leg, the EEG signal acquisition device collects the corresponding EEG signals and transmits them to the EEG signal analysis unit. After analysis, the EEG signal analysis unit outputs a "left leg movement" signal to the electrical stimulator control unit. At this point, the electrical stimulator control unit issues a "left channel active" instruction, which, in the present invention, means "left side stimulation possible."

[0083] The plantar pressure signal analysis unit determines the user's weight-bearing condition based on the magnitude of the plantar pressure. The heavier the user's weight-bearing condition, the more the pressure sensor outputs, and the greater the output intensity of the electrical stimulator control unit. That is, the EEG signal first determines whether the electrical stimulator outputs, and then the magnitude of the plantar pressure determines the magnitude of the electrical stimulator output. If the user only tilts their center of gravity to the left in a "compensatory" manner to increase plantar pressure without "imagining exerting force on the left lower limb," then according to the above process, the electrical stimulator will not actually stimulate the user's left leg. On the other hand, if the user only "imagines exerting force on the left leg" but does not tilt their center of gravity to the left, then the electrical stimulator will only stimulate the left leg based on the current plantar pressure intensity.

[0084] The present invention will be further described below by way of examples.

[0085] (1) “Standing on two legs” and “shifting the center of gravity”:

[0086] When the user performs the "standing on both legs" and "center of gravity transfer" tasks, both feet need to land on the ground, and the gluteus maximus, gluteus medius, and quadriceps muscles work together to keep the body stable.

[0087] Imagine standing with your legs straight to activate the electrical stimulation channels. The electrical stimulation channels are controlled on both sides, targeting the gluteus maximus, gluteus medius, and quadriceps femoris. The user's weight and weight loss data, along with the plantar pressure signal from the pressure sensor, determine the load status of the legs and determine the instantaneous electrical stimulation intensity. While correctly imagining the movement, the muscles on both sides receive electrical stimulation of varying intensities based on the load status. The greater the load, the stronger the electrical stimulation.

[0088] Under the control of the above logic, when the user performs the "standing" rehabilitation training task, if both legs are evenly loaded, the electrical stimulation intensity of both legs will be equal; when performing center of gravity transfer training, if the center of gravity is biased towards the left leg, the electrical stimulation intensity of the left channel will increase to ensure stable standing of the left lower limb.

[0089] (2) Walking training

[0090] "Walking" can be simplified into a cyclical activity of "standing on both legs - bearing weight on the left leg - taking a step with the right leg - bearing weight on the right leg - taking a step with the left leg - bearing weight on the left leg". Figure 4 The figure shows the process flow of walking training under the functional electrical stimulation logic controlled by the brain-computer interface of the present invention. When walking, one lower limb needs to stand steadily for a period of time, while the other lower limb steps forward. Therefore, the electrical stimulation logic of walking is slightly different from that of standing training. Take the left leg supporting and the right leg stepping as an example:

[0091] a. Imagine standing up straight with both legs, and the pressure sensors on both sides will output and all channels will work.

[0092] b. Imagine exerting force on your left leg, with your body's center of gravity shifting to the left. The output of the left foot pressure sensor will increase, and all left leg channels of the electrical stimulator will work. The stimulation of the right channel will gradually decrease until it stops.

[0093] c. The left plantar pressure sensor maintains its output state. After the functional electrical stimulation reaches its peak intensity on the left channel, it is maintained for a maximum of a predetermined time. During this time, the user should imagine moving their right lower limb, activating the right "quadriceps" channel of the electrical stimulator and stimulating the quadriceps, creating a "stepping" motion. In this invention, this "predetermined time" is 30-60 seconds.

[0094] d. After stepping forward with the right leg and the heel touching the ground, the user's center of gravity shifts to the right, causing the pressure sensor on the left foot to increase. The user continues to imagine exerting force on the right leg. The functional electrical stimulator's right channels are fully activated, stimulating the right leg and assisting in standing. Simultaneously, the left functional electrical stimulation channel is deactivated.

[0095] e. After the stimulation intensity of the right channel of the functional electrical stimulator reaches its peak, it is maintained for a maximum of a certain period of time. During this period of stimulation, the user is required to imagine moving their left lower limb, activating the right "quadriceps" channel of the functional electrical stimulator, stimulating the quadriceps and creating a "stepping" motion. In this invention, this "certain period of time" is 30-60 seconds.

[0096] f. Repeat the above process to form the "walking step" training.

[0097] The above describes in detail the preferred embodiments of this patent, but this patent is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of this patent.

Claims

1. A rehabilitation training method for a hybrid brain-computer interface, characterized in that: include: The EEG signal acquisition device collects EEG signals, the pressure sensor collects plantar pressure signals, and the overhead rail weight loss device obtains the user's weight data and weight loss data; The EEG signal analysis unit analyzes the collected EEG signals to obtain an electrical stimulation channel control signal; the plantar pressure signal analysis unit analyzes the collected plantar pressure signals, obtains the actual load parameter based on the plantar pressure signal, and calculates the instantaneous electrical stimulation intensity based on the actual load parameter, the user's weight data, and the weight loss data, and outputs an instantaneous electrical stimulation intensity control signal based on the instantaneous electrical stimulation intensity; The electrical stimulator control unit determines a first output result of the electrical stimulator control unit according to the electrical stimulation channel control signal, and determines a second output result of the electrical stimulator control unit according to the instant electrical stimulation intensity control signal; The electric stimulator control unit determines the working state of the electric stimulator according to the first output result and the second output result; The instantaneous electrical stimulation intensity is calculated based on the actual load parameters, the user's weight data and the weight loss data. The specific calculation method is: Instantaneous electrical stimulation intensity = set electrical stimulation intensity * [actual load parameter / (user weight data - user weight loss data)]; Among them, the setting of the electrical stimulation intensity is pre-set according to the user's situation; the user's weight data is obtained according to the measurement of the weight by the overhead rail weight reduction device, and the weight reduction data is obtained according to the setting of the overhead rail weight reduction device.

2. The method according to claim 1, wherein: The electrical stimulation channel control signal determines whether the left and right channels of the electrical stimulator are "working" or not, and the first output result includes "left channel working", "left channel not working", "right channel working", and "right channel not working"; The instantaneous electrical stimulation intensity control signal determines the "output intensity" of the electrical stimulator, and the second output result includes "left channel output intensity", "right channel output intensity", and 0.

3. The method according to claim 2, wherein: When the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "left channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "right channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "right channel output intensity" according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "right channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal.

4. The method according to claim 1, wherein: The EEG signal analysis unit analyzes the collected EEG signals using the common spatial pattern (CSP) algorithm to obtain the user's movement intention and ultimately obtain the electrical stimulation channel control signal.

5. A hybrid brain-computer interface rehabilitation training system, characterized in that: include: EEG signal acquisition device, control system, pressure sensor, electric stimulator, and overhead rail weight reduction device; wherein the control system includes an EEG signal analysis unit, a plantar pressure signal analysis unit, and an electric stimulator control unit; The EEG signal acquisition device is used to acquire EEG signals; The pressure sensor is used to collect plantar pressure signals; The overhead rail weight loss device is used to obtain the user's weight data and weight loss data; The EEG signal analysis unit analyzes the collected EEG signal to obtain an electrical stimulation channel control signal; The plantar pressure signal analysis unit analyzes the collected plantar pressure signal, obtains the actual load parameter according to the plantar pressure signal, calculates the instantaneous electrical stimulation intensity according to the actual load parameter, the user's weight data and weight loss data, and outputs the instantaneous electrical stimulation intensity control signal according to the instantaneous electrical stimulation intensity; The electrical stimulator control unit determines a first output result of the electrical stimulator control unit according to the electrical stimulation channel control signal, and determines a second output result of the electrical stimulator control unit according to the instant electrical stimulation intensity control signal; The electrical stimulator control unit determines the working state of the electrical stimulator according to the first output result and the second output result; The instantaneous electrical stimulation intensity is calculated based on the actual load parameters, the user's weight data and the weight loss data. The specific calculation method is: Instantaneous electrical stimulation intensity = set electrical stimulation intensity * [actual load parameter / (user weight data - user weight loss data)]; Among them, the setting of the electrical stimulation intensity is pre-set according to the user's situation; the user's weight data is obtained according to the measurement of the weight by the overhead rail weight reduction device, and the weight reduction data is obtained according to the setting of the overhead rail weight reduction device.

6. The system according to claim 5, characterized in that: The electrical stimulation channel control signal determines whether the left and right channels of the electrical stimulator are "working" or not, and the first output result includes "left channel working", "left channel not working", "right channel working", and "right channel not working"; The instantaneous electrical stimulation intensity control signal determines the "output intensity" of the electrical stimulator, and the second output result includes "left channel output intensity", "right channel output intensity", and 0.

7. The system according to claim 6, characterized in that: When the first output result is determined to be "left channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "left channel output intensity" according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "left channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "right channel working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be "right channel output intensity" according to the obtained instant electrical stimulation intensity control signal; When the first output result of the electrical stimulator control unit is determined to be "right channel not working" according to the obtained electrical stimulation channel control signal, the second output result of the electrical stimulator control unit is determined to be 0 according to the obtained instant electrical stimulation intensity control signal.

8. The system according to claim 5, characterized in that: The EEG signal analysis unit analyzes the collected EEG signals using the common spatial pattern (CSP) algorithm to obtain the user's movement intention and ultimately obtain the electrical stimulation channel control signal.

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