Amplitude adjustment method and device based on electromyographic signals, and massage device

Abstract

The application relates to the technical field of massage equipment, and discloses an amplitude control method and device based on myoelectric signals and a massage equipment, and aims to solve the problem of poor accuracy of the amplitude adjustment mode of the existing massage equipment, and the scheme mainly comprises the following steps: acquiring myoelectric signals of a current massage part; determining the muscle type of the current massage part according to the myoelectric signals, and determining an initial amplitude according to the muscle type; and adjusting the amplitude of the massage equipment to the initial amplitude, so that the massage equipment massages the current massage part at the initial amplitude. The application improves the accuracy of the amplitude adjustment of the massage equipment, and is particularly suitable for a fascia gun.

Description

Technical Field

[0001] This application relates to the field of massage equipment technology, specifically to a method and device for amplitude adjustment based on electromyographic signals, and a massage device. Background Technology

[0002] Massage equipment refers to electric appliances used to replace manual massage. Massage equipment generally uses a miniature motor or vibrator to vibrate the massage head through a transmission device to achieve a massage effect. For example, a fascia gun, also known as a deep myofascial impactor, is a soft tissue massage tool that relaxes the body's soft tissues through high-frequency impact. The fascia gun uses a piston to drive the massage head in a linear reciprocating motion. The massage head contacts the body, generating high-frequency vibrations that reach deep into the muscles, reducing local tissue tension, relieving pain, and promoting blood circulation. While existing fascia guns have adjustable massage head amplitude, users often lack the expertise to determine how to set the amplitude. When using existing variable amplitude fascia guns, users typically adjust the amplitude based on the instruction manual or by feel, making it difficult to achieve the optimal amplitude. This results in the variable amplitude fascia gun not achieving its best effect, and users cannot obtain the best massage experience.

[0003] Application publication number CN112545860A discloses a driving method for a driving component, as well as a massage device, electronic device, and storage medium. It discloses a method for determining the muscle fatigue level of the current massage area based on muscle state data, and adjusting driving component parameters, such as amplitude, according to the muscle fatigue level. However, the amplitude adjustment method of the aforementioned massage device only considers the influence of muscle fatigue level, making it difficult to adjust to the optimal amplitude and resulting in poor accuracy. Summary of the Invention

[0004] This application aims to address the problem of poor accuracy in the amplitude adjustment methods of existing massage devices, and proposes an amplitude adjustment method and device based on electromyographic signals, as well as a massage device.

[0005] The technical solution adopted by this application to solve the above-mentioned technical problems is:

[0006] In a first aspect, a method for amplitude modulation based on electromyographic signals is provided, applied to a massage device, the method comprising:

[0007] Acquire electromyographic signals of the currently massaged area;

[0008] The type of muscle in the current massage area is determined based on the electromyographic signal, and the initial amplitude is determined based on the type of muscle.

[0009] The amplitude of the massage device is adjusted to the initial amplitude so that the massage device massages the current massage area at the initial amplitude.

[0010] Because different types of muscles located in different parts of the body have different muscle group characteristics, different amplitudes of massage are needed for different types of muscles to achieve better massage effects. For example, the biceps brachii, located on the front of the upper arm, is responsible for flexing the elbow joint and forearm; its electromyographic (EMG) signal frequency is low, and its EMG value is small. The erector spinae, located at the base of the spine, is responsible for flexing the spine and lifting the head; its EMG signal frequency is high, and its EMG value is large. Based on this, the amplitude adjustment method provided in this application determines the muscle type by the EMG signal of the massage area and adjusts the massage device to the initial amplitude according to the muscle type. This avoids amplitude compatibility problems caused by differences in muscle group characteristics in different parts of the body and improves the accuracy of amplitude adjustment.

[0011] Furthermore, the type of muscle in the current massage area is determined based on the electromyographic signals, specifically including:

[0012] Extract feature data from the electromyographic signal, wherein the feature data includes at least time-domain feature data, frequency-domain feature data, and time-frequency feature data;

[0013] The feature data is input into a pre-trained classification model, and the type of muscle in the current massage area is determined based on the classification result output by the classification model.

[0014] As mentioned above, different types of muscles have different muscle group characteristics. This application can obtain muscle group characteristic data of various types of muscles in advance, and train a classification model based on this data. Then, the characteristic data of the obtained electromyographic signals can be input into the classification model to determine the type of muscle. This can improve the efficiency and accuracy of muscle type determination, and further improve the accuracy of amplitude regulation.

[0015] Furthermore, before extracting the feature data from the electromyographic signal, the process also includes:

[0016] The electromyographic signal is preprocessed, and the preprocessing includes at least noise filtering, signal amplification, and filtering.

[0017] By preprocessing the electromyographic (EMG) signals before extracting feature data, the quality and stability of the EMG signals can be improved, ensuring accurate feature data extraction and further enhancing the accuracy of muscle type identification.

[0018] Furthermore, determining the initial amplitude based on the muscle type specifically includes:

[0019] A pre-established correspondence between muscle types and initial amplitudes is created, and the initial amplitude is determined based on the muscle type of the current massage area and the correspondence.

[0020] In practical applications, qualified professionals or manufacturers can pre-set the correspondence between muscle types and initial amplitudes in the massage equipment. When the user uses the massage equipment, it can automatically identify the muscle type of the massage area and automatically adjust the initial amplitude. It can also adjust the initial amplitude to the optimal amplitude, which improves the efficiency and accuracy of initial amplitude determination, as well as the efficiency and accuracy of amplitude adjustment.

[0021] Furthermore, the method also includes:

[0022] After the massage device massages the current massage area with an initial amplitude, it continuously acquires the electromyographic signal of the current massage area and calculates the root mean square value of the continuously acquired electromyographic signal within a preset time period.

[0023] The target amplitude is determined based on the root mean square value and the initial amplitude, and the amplitude of the massage device is adjusted to the target amplitude so that the massage device massages the current massage area with the target amplitude.

[0024] The root mean square value of muscle signals over a period of time can be used to represent the degree of influence of vibration stimulation on muscle fatigue relief. Based on this, this application can calculate the root mean square value of electromyography signals in real time within a preset time period, and determine the target amplitude by means of the root mean square value and the initial amplitude, so that the target amplitude comprehensively reflects the type of muscle and the degree of muscle fatigue. Under the massage effect of the target amplitude, the muscle can be activated to the maximum extent, which further improves the accuracy of amplitude regulation.

[0025] Further, determining the target amplitude based on the root mean square value and the initial amplitude specifically includes:

[0026] The muscle fatigue level of the current massage area is determined based on the preset range of the root mean square value, and the initial amplitude is corrected based on the muscle fatigue level to obtain the target amplitude.

[0027] When the root mean square (RMS) value is large, the muscle fatigue level is high. In this case, the amplitude can be increased by a certain amount based on the initial amplitude to obtain the target amplitude. When the RMS value is small, the muscle fatigue level is low. In this case, the amplitude can be reduced by a certain amount based on the initial amplitude to obtain the target amplitude. This allows for setting different target amplitudes for different types of muscles or muscles with different fatigue levels, making the target amplitude more suitable for the current type of muscle and muscle state, and further improving the accuracy of amplitude adjustment.

[0028] Secondly, an amplitude modulation device based on electromyographic signals is provided, comprising:

[0029] Acquisition unit, used to acquire electromyographic signals of the current massage area;

[0030] The determining unit is used to determine the type of muscle in the current massage area based on the electromyographic signal, and to determine the initial amplitude based on the type of muscle.

[0031] An adjustment unit is used to adjust the amplitude of the massage device to the initial amplitude so that the massage device massages the current massage area at the initial amplitude.

[0032] Because different types of muscles located in different parts of the body have different muscle group characteristics, different amplitudes of massage are needed for different types of muscles to achieve better massage effects. For example, the biceps brachii, located on the front of the upper arm, is responsible for flexing the elbow joint and forearm; its electromyographic (EMG) signal frequency is low, and its EMG value is small. The erector spinae, located at the base of the spine, is responsible for flexing the spine and lifting the head; its EMG signal frequency is high, and its EMG value is large. Based on this, the amplitude adjustment device based on EMG signals provided in this application determines the muscle type by analyzing the EMG signals of the massage area and adjusts the massage device to the initial amplitude according to the muscle type. This avoids amplitude compatibility problems caused by differences in muscle group characteristics in different parts of the body and improves the accuracy of amplitude adjustment.

[0033] Thirdly, a massage device is provided, including a main unit and a massage head. The main unit includes a control module and a continuously variable amplitude reciprocating drive mechanism, and also includes an electromyography signal detection module.

[0034] The electromyography (EMG) signal detection module is integrated into the massage head and is used to acquire the EMG signal of the current massage area.

[0035] The control module is used to determine the type of muscle in the current massage area based on the electromyographic signal, and to determine the initial amplitude based on the type of muscle. Different types of muscles are located in different parts of the human body.

[0036] The continuously variable reciprocating drive mechanism is used to adjust the amplitude of the massage device to the initial amplitude, so that the massage device massages the current massage area with the initial amplitude.

[0037] Because different types of muscles located in different parts of the body have different muscle group characteristics, different amplitudes of massage are needed for different types of muscles to achieve better massage effects. For example, the biceps brachii, located on the front of the upper arm, is responsible for flexing the elbow joint and forearm. The electromyographic (EMG) signal frequency of the biceps brachii is low, and the EMG value is small. The erector spinae, located at the base of the spine, is responsible for flexing the spine and lifting the head. The EMG signal frequency of the erector spinae is high, and the EMG value is large. Based on this, the massage device provided in this application acquires the EMG signal of the massage area by integrating an EMG signal detection module into the massage head. The control module determines the muscle type based on the EMG signal and controls the continuously variable amplitude reciprocating drive mechanism to adjust the amplitude of the massage device according to the initial amplitude corresponding to the muscle type. Specifically, after determining the initial amplitude, the control module sends a corresponding control signal to the continuously variable amplitude reciprocating drive mechanism, causing the continuously variable amplitude reciprocating drive mechanism to adjust the amplitude to the initial amplitude, thereby achieving automatic amplitude adjustment. This avoids amplitude compatibility problems caused by differences in muscle group characteristics in different parts of the body and improves the accuracy of amplitude adjustment.

[0038] Furthermore, the continuously variable reciprocating drive mechanism includes a crank-slider mechanism, an adjusting rod, and a position adjusting mechanism, which are sequentially hinged together by an eccentric wheel, an output rod, a connecting rod, and a piston.

[0039] The hinge point between the output rod and the connecting rod is a swing hinge point, and the adjusting rod has a swing end and an adjusting end;

[0040] The piston is connected to the massage head, and the position adjustment mechanism is electrically connected to the control module;

[0041] The swing end of the adjusting rod is hinged to the output rod, and the adjusting end of the adjusting rod is hinged to the position adjusting mechanism;

[0042] The position adjustment mechanism is used to drive the adjustment end of the adjustment rod to move relative to the control signal sent by the control module, so as to limit the swing range of the swing hinge point.

[0043] In the aforementioned continuously variable amplitude reciprocating drive mechanism, since the piston is rotatably connected to the connecting rod, and the connecting rod and adjusting rod are rotatably connected to the output rod respectively, the connecting rod and adjusting rod move with the swing of the output rod, thereby causing the piston to drive the massage head to move. This structural design effectively achieves stepless adjustment of the piston's reciprocating motion amplitude. Compared with existing stepless adjustment methods, it effectively reduces structural complexity and manufacturing costs, while also facilitating user adjustment. Through the position adjustment mechanism, the position of the adjusting end of the adjusting rod can be conveniently and reliably adjusted automatically, thereby driving the adjusting rod to adjust the swing range of the swing hinge point on the output rod, thus achieving automatic adjustment of the massage head amplitude. Specifically, once the control module determines the initial amplitude, it can input the corresponding control signal to the position adjustment mechanism, causing the position adjustment mechanism to automatically adjust the massage head amplitude to the initial amplitude.

[0044] Furthermore, the position adjustment mechanism includes a drive motor, a lead screw, and a lead screw nut;

[0045] The lead screw nut is rotatably mounted on the adjusting end of the adjusting rod, and the lead screw is connected to the rotation input end of the drive motor;

[0046] The drive motor is electrically connected to the control module. The drive motor is used to rotate forward or reverse according to the control signal sent by the control module, so as to drive the lead screw to rotate and thus drive the lead screw nut to slide along the axial direction of the lead screw.

[0047] Specifically, after determining the initial amplitude, the control module can input the corresponding control signal to the drive motor, causing the drive motor to rotate forward or in reverse. The drive motor drives the lead screw to rotate, which in turn drives the lead screw nut to slide along the extension direction of the lead screw, thereby changing the position of the adjusting end of the adjusting rod. This not only realizes the automatic adjustment of the position of the adjusting end, but also makes the entire adjustment process very convenient and accurate, further improving the accuracy of amplitude adjustment.

[0048] The beneficial effects of this application are as follows: The amplitude adjustment method and device based on electromyography (EMG) signals and the massage device described in this application determine the initial amplitude of the massage device according to the muscle type, making the initial amplitude of the massage device compatible with the muscle type. This avoids amplitude compatibility problems caused by differences in muscle group characteristics in different parts of the human body, and improves the accuracy of amplitude adjustment. Furthermore, this application combines the initial amplitude and the root mean square value of EMG to determine the target amplitude of the massage device, comprehensively considering the muscle type and muscle state. This makes the target amplitude of the massage device compatible with both the muscle type and muscle state, further improving the accuracy of amplitude adjustment. This allows the variable amplitude massage device to achieve the best usage effect, and users can also achieve the best massage experience. Attached Figure Description

[0049] Figure 1This is a schematic diagram of the structure of a massage device provided in an embodiment of this application;

[0050] Figure 2 A three-dimensional structural schematic diagram of a continuously variable amplitude reciprocating drive mechanism provided for an embodiment of this application;

[0051] Figure 3 A schematic diagram of the planar structure of a continuously variable amplitude reciprocating drive mechanism provided in an embodiment of this application;

[0052] Figure 4 This is a schematic diagram of the structure of a position adjustment mechanism provided in an embodiment of this application;

[0053] Figure 5 A schematic flowchart illustrating an amplitude modulation method based on electromyographic signals provided in this application embodiment;

[0054] Figure 6 A schematic diagram illustrating the change of electromyographic values ​​of various muscles over time, provided as an embodiment of this application;

[0055] Figure 7 A schematic flowchart illustrating another amplitude modulation method based on electromyographic signals provided in this application embodiment;

[0056] Figure 8 A schematic diagram illustrating the relationship between exercise duration and root mean square electromyography value is provided in an embodiment of this application.

[0057] Figure 9 A schematic diagram of the structure of an amplitude adjustment device based on electromyography signals provided in an embodiment of this application;

[0058] Explanation of reference numerals in the attached figures:

[0059] 7-Connecting rod; 9-Output rod; 10-Piston; 11-Adjusting rod; 12-Adjusting end of adjusting rod; 151-Leading screw; 152-Leading screw nut; 153-Drive motor; 16-Eccentric wheel. Detailed Implementation

[0060] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0061] In some of the processes described in the specification and accompanying drawings of this application, multiple operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel.

[0062] The technical solutions of this application are applicable to application scenarios that require amplitude adjustment of variable amplitude massage devices, such as amplitude adjustment of variable amplitude fascia guns.

[0063] Since the amplitude adjustment of current massage devices is based on the user's sense of touch or the degree of muscle fatigue, the inventor, based on experimental research on existing amplitude adjustment methods and user feedback, found that the existing amplitude adjustment methods cannot be adjusted to the optimal amplitude, resulting in the variable amplitude fascia gun failing to achieve its best effect and users not being able to achieve the best massage experience.

[0064] To optimize the amplitude of the variable amplitude massage device, the inventors conducted a series of studies and discovered that a larger or smaller amplitude is not necessarily better. Furthermore, different muscle groups require different amplitudes, and using the appropriate amplitude for different muscles can improve massage effectiveness and efficiency. For example, when the gastrocnemius muscle is fatigued, a 10mm amplitude fascia gun is more effective at relieving muscle fatigue than 7mm or 16mm amplitude guns. The massage efficiency of a 10mm amplitude fascia gun is 25% higher than that of a 7mm amplitude fascia gun, while a 16mm amplitude fascia gun is not suitable for the gastrocnemius muscle and may even pose a risk of injury.

[0065] Based on this, the technical solution of this application is proposed. In the embodiments of this application, by acquiring the electromyographic signal of the current massage area, determining the type of muscle in the current massage area based on the electromyographic signal, and determining the initial amplitude based on the muscle type, the amplitude of the massage device is adjusted to the initial amplitude so that the massage device massages the current massage area with the initial amplitude. That is, during the massage, the massage device automatically adjusts the amplitude according to the type of muscle in the current massage area. By using different initial amplitudes to massage different types of muscles, the initial amplitude is adapted to the human body part, thereby improving the accuracy of amplitude adjustment.

[0066] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0067] Figure 1This is a schematic diagram of the structure of a massage device provided in an embodiment of this application. The massage device may include a main unit, a massage head, and an electromyography (EMG) signal detection module. The main unit includes a control module and a continuously variable amplitude reciprocating drive mechanism, and the EMG signal detection module is integrated into the massage head.

[0068] In this embodiment, the electromyography (EMG) signal detection module is electrically connected to the control module and is used to acquire the EMG signal of the current massage area and send it to the control module. The EMG signal detection module can be two metal electrode pads integrated on the massage head.

[0069] In this embodiment of the application, the control module is an MCU, i.e., a microprocessor controller, but it is not limited to this. The control module can also be a central processing unit or other processors with processing and computing functions. The control module is used to determine the type of muscle in the current massage area based on the received electromyographic signals, and to determine the corresponding initial amplitude based on the type of muscle.

[0070] In this embodiment, the continuously variable amplitude reciprocating drive mechanism is used to automatically and continuously adjust the amplitude of the massage device under the control of the control module. Please refer to [link to relevant documentation]. Figure 2 and Figure 3 The continuously variable reciprocating drive mechanism includes a crank-slider mechanism, an adjusting rod 11, and a position adjustment mechanism, which are sequentially hinged together by an eccentric wheel 16, an output rod 9, a connecting rod 7, and a piston 10. The hinge point between the output rod 9 and the connecting rod 7 is the swing amplitude hinge point. The adjusting rod 11 has a swing end and an adjusting end 12. The piston 10 is connected to the massage head, and the position adjustment mechanism is electrically connected to the control module. The swing end of the adjusting rod 11 is hinged to the output rod 9, and the adjusting end of the adjusting rod 11 is hinged to the position adjustment mechanism. The position adjustment mechanism is used to drive the adjusting end 12 of the adjusting rod 11 to move relative to the control signal sent by the control module, so as to limit the swing range of the swing amplitude hinge point.

[0071] In the above-mentioned continuously variable reciprocating drive mechanism, when the input end of the eccentric wheel 16 rotates, the output rod 9 swings back and forth with the rotation of the eccentric wheel 16. The connecting rod 7 and the adjusting rod 11 move with the swing of the output rod 9. When the position adjustment mechanism adjusts the adjusting end 12 of the adjusting rod 11 to different positions, the swing amplitude and swing range of the hinge point between the connecting rod 7 and the output rod 9 will change accordingly, and the change will be transmitted to the piston 10 through the connecting rod 7, thereby changing the piston amplitude and thus driving the massage head amplitude to change.

[0072] Please see Figure 4In this embodiment, the position adjustment mechanism includes a drive motor 153, a lead screw 151, and a lead screw nut 152. The lead screw nut 152 is rotatably mounted on the adjusting end 12 of the adjusting rod 11. The lead screw 151 is connected to the rotation input end of the drive motor 153. The drive motor 153 is electrically connected to a control module. The drive motor 153 is used to rotate forward or reverse according to the control signal sent by the control module, thereby driving the lead screw 151 to rotate and thus driving the lead screw nut 152 to slide along the axial direction of the lead screw 151. That is, the drive motor 153 rotates forward or reverse to drive the lead screw 151 to rotate, thereby driving the lead screw nut 152 to slide along the extension direction of the lead screw 151, and thus changing the position of the adjusting end 12 of the adjusting rod 11.

[0073] Based on the structure of the massage device described above, the amplitude of the massage device can be automatically and steplessly adjusted through the control module. The specific implementation process is as follows: When it is necessary to adjust the amplitude of the massage device, the control module sends a corresponding control signal to the drive motor 153. The control signal contains the motor rotation direction and number of rotation steps corresponding to the amplitude. After receiving the control signal, the drive motor 153 rotates according to the corresponding rotation direction and number of rotation steps. After the drive motor 153 rotates, it drives the lead screw 151 to rotate, which in turn drives the lead screw nut 152 to slide along the extension direction of the lead screw 151, thereby changing the position of the adjustment end 12 of the adjustment rod 11. When the position of the adjustment end of the adjustment rod 11 changes, the swing amplitude and swing range of the hinge point between the connecting rod 7 and the output rod 9 will change accordingly, and the change will be transmitted to the piston 10 through the connecting rod 7, thereby changing the piston amplitude and adjusting the amplitude of the massage head to the corresponding amplitude.

[0074] It should be noted that the specific structure of the massage device described above is merely an example of a massage device capable of automatic stepless amplitude adjustment. The massage device can also have other structures, as long as it can automatically perform stepless amplitude adjustment. The stepless amplitude reciprocating drive mechanism for achieving stepless amplitude adjustment provided in this application embodiment belongs to the prior art; for its specific structure, please refer to application publication number CN116155027A.

[0075] Based on the aforementioned massage device, this application provides an amplitude adjustment method based on electromyographic signals. Please refer to [link to relevant documentation]. Figure 5 This includes the following steps:

[0076] Step 101: Obtain the electromyographic signal of the current massage area;

[0077] In this embodiment, when a user performs a massage using the massage device, two metal electrode pads integrated on the massage head simultaneously contact the corresponding muscle area, thereby acquiring the electromyographic signal of the currently massaged area. The electromyographic signal is a one-dimensional time-series signal with a frequency of 0-500Hz.

[0078] To improve the quality and stability of electromyographic (EMG) signals, this embodiment includes preprocessing of the EMG signals after acquisition, mainly including noise filtering, signal amplification, filtering, and analog-to-digital (AD) conversion. In practical applications, preprocessing of the EMG signals can be achieved by setting up amplification circuits, filtering circuits, and AD conversion circuits. When the muscles are fully relaxed, their baseline noise should be between 1-4 μV (RMS), and their interference frequencies are mainly between 0-60 Hz. In this embodiment, the filtering circuit can use a 10-20 Hz high-pass filter and a 400-450 Hz low-pass filter. The frequency range can vary for different muscles. For example, the frequency range of finger muscles is higher, while the frequency range of leg muscles is lower. By preprocessing the EMG signals, the quality and stability of the EMG signals can be improved, ensuring accurate feature data extraction and further improving the accuracy of muscle type determination.

[0079] Step 102: Determine the type of muscle in the current massage area based on the electromyographic signal, and determine the initial amplitude based on the type of muscle.

[0080] It's understandable that different muscle types are located in different parts of the body, and each type has different muscle group characteristics. Using different amplitudes for different muscle types can improve the massage effect and efficiency. For example, the biceps brachii is located on the front of the upper arm and is responsible for flexing the elbow and forearm. The electromyographic (EMG) signal of the biceps brachii has a low frequency and small amplitude. When the biceps brachii begins to contract, both the frequency and amplitude of the signal increase. In addition, the EMG signal of the biceps brachii also has obvious periodicity because the biceps brachii has a certain rhythmicity when contracting. As another example, the erector spinae is located at the base of the spine and is responsible for flexing the spine and lifting the head. Compared with the biceps brachii, the EMG signal of the erector spinae has different characteristics. The EMG signal of the erector spinae has a higher frequency and larger amplitude. In addition, the EMG signal of the erector spinae also has higher complexity and irregularity, which may be related to the flexibility and versatility of the erector spinae in performing various movements. Figure 6 This is a schematic diagram illustrating the changes in electromyographic values ​​of various muscles over time, provided as an embodiment of this application. Figure 6 It can be seen that the electromyographic values ​​of the deltoid, biceps brachii, triceps brachii, and brachioradialis muscles show significant differences over time.

[0081] Based on this, embodiments of this application can determine muscle types using collected electromyographic (EMG) signals. Specifically, after preprocessing the EMG signals, feature data can be extracted, including time-domain feature data, frequency-domain feature data, and time-frequency feature data. These feature data reflect the waveform, frequency, energy, and other characteristics of the EMG signals, providing a basis for subsequent muscle classification. The extracted feature data is then input into a pre-trained classification model, and the muscle type of the current massage area can be determined based on the classification results output by the model.

[0082] In this embodiment, muscle group feature data of various muscles can be acquired in advance, and a classification model can be trained based on this data. Then, the feature data of the electromyographic signal of the current massage area can be input into the classification model to determine the muscle type. The classification model can be a support vector machine, neural network, decision tree, etc., and this embodiment does not limit it. By identifying muscle types through a classification model, the efficiency and accuracy of muscle type determination are improved, and the accuracy of amplitude adjustment is further improved.

[0083] After obtaining the muscle type of the current massage area, this embodiment can determine the initial amplitude based on the muscle type. In practical applications, a correspondence between muscle types and initial amplitudes can be pre-established. This correspondence can be preset in the massage device by personnel with sufficient expertise or the manufacturer, or it can be flexibly set by the user according to the usage of the massage device. This embodiment does not impose any restrictions on this. After obtaining the muscle type of the current massage area, the corresponding initial amplitude can be determined according to the preset correspondence, thus improving the efficiency and accuracy of initial amplitude determination, as well as the efficiency and accuracy of amplitude adjustment.

[0084] Step 103: Adjust the amplitude of the massage device to the initial amplitude so that the massage device massages the current massage area with the initial amplitude.

[0085] After determining the initial amplitude, the control module of the massage device generates a control signal corresponding to the initial amplitude and sends it to the continuously variable amplitude reciprocating drive mechanism. The continuously variable amplitude reciprocating drive mechanism adjusts the amplitude of the massage device to the initial amplitude, so that the massage device massages the current massage area at the initial amplitude. This embodiment adjusts the initial amplitude of the massage device according to the muscle type, making the initial amplitude of the massage device compatible with the muscle type. This avoids amplitude compatibility problems caused by differences in muscle group characteristics in different parts of the human body, and improves the accuracy of amplitude adjustment.

[0086] To further improve the accuracy of amplitude adjustment, please refer to [link / reference needed]. Figure 7 The embodiments of this application may further include the following steps:

[0087] Step 104: After the massage device massages the current massage area with an initial amplitude, continuously acquire the electromyographic signal of the current massage area and calculate the root mean square value of the continuously acquired electromyographic signal within a preset time period.

[0088] Research has found that the root mean square (RMS) value of electromyography (EMG) is the most reliable parameter in the time domain and is the effective value of discharge. Its magnitude depends on the change in the EMG amplification value and is used to estimate the magnitude of the contractile force generated. Therefore, the RMS value of EMG is related to the degree of muscle fatigue and can be used to represent the degree of influence of vibration stimulation on the relief of muscle fatigue. Figure 8 This embodiment of the application provides a schematic diagram showing the relationship between exercise duration and root mean square (RMS) electromyography (EMG) value. It can be seen that the higher the degree of muscle fatigue, the larger the RMS value; conversely, the lower the degree of muscle fatigue, the smaller the RMS value. Based on this, this embodiment further adjusts the initial amplitude according to the RMS value of the EMG signal to further improve the accuracy of amplitude regulation.

[0089] In practical applications, the control module can calculate the root mean square (RMS) value of all electromyographic (EMG) signals over a period of time to describe the average variation characteristics of EMG signals during that period. For a sine wave, the RMS value is 0.707 times the peak value, or 0.354 times the peak-to-peak value.

[0090] Step 105: Determine the target amplitude based on the root mean square value and the initial amplitude, and adjust the amplitude of the massage device to the target amplitude so that the massage device massages the current massage area with the target amplitude.

[0091] In this embodiment, after calculating the root mean square (RMS) value of the electromyographic signal, the muscle fatigue level of the current massage area can be determined based on the preset range of the RMS value. The initial amplitude is then corrected according to the muscle fatigue level to obtain the target amplitude. Specifically, when the RMS value is large, the muscle fatigue level is high, and the target amplitude can be obtained by increasing the initial amplitude. Conversely, when the RMS value is small, the muscle fatigue level is low, and the target amplitude can be obtained by decreasing the initial amplitude.

[0092] In this embodiment, the amplitude of the massage device can be adjusted according to the correspondence in the table below:

[0093] RMS value (uV) Target amplitude (mm) 800<RMS<1000 Initial amplitude of muscle group +5mm 600<RMS<800 Initial amplitude of muscle group +4mm 400<RMS<600 Initial amplitude of muscle group +3mm 200<RMS<400 Initial amplitude of muscle group +1mm

[0094] After determining the target amplitude, the control module of the massage device generates a control signal corresponding to the target amplitude and sends it to the continuously variable amplitude reciprocating drive mechanism. The continuously variable amplitude reciprocating drive mechanism adjusts the amplitude of the massage device to the target amplitude, so that the massage device massages the current massage area at the target amplitude. This embodiment of the application determines the target amplitude of the massage device by combining the initial amplitude and the root mean square value of electromyography (EMG), comprehensively considering muscle type and muscle state. This ensures that the target amplitude of the massage device is adapted to the muscle type and muscle state, further improving the accuracy of amplitude adjustment. This allows the variable amplitude massage device to achieve its best performance, and the user can also achieve the best massage experience.

[0095] Corresponding to Figure 5 The amplitude modulation method based on electromyographic signals described above is further illustrated in this application embodiment, which also provides an amplitude modulation device based on electromyographic signals. Please refer to [link to relevant documentation]. Figure 9 ,include:

[0096] Acquisition unit, used to acquire electromyographic signals of the current massage area;

[0097] The determining unit is used to determine the type of muscle in the current massage area based on the electromyographic signal, and to determine the initial amplitude based on the type of muscle.

[0098] An adjustment unit is used to adjust the amplitude of the massage device to the initial amplitude so that the massage device massages the current massage area at the initial amplitude.

[0099] It is understood that since the amplitude adjustment device based on electromyography signals described in this application embodiment is a device for implementing the amplitude adjustment method based on electromyography signals described in the embodiment, the device disclosed in the embodiment is described in a simpler way because it corresponds to the method disclosed in the embodiment. For relevant parts, please refer to the description of the method.

Claims

1. An amplitude modulation method based on electromyographic signals, applied to massage devices, characterized in that, The method includes: Acquire electromyographic signals of the currently massaged area; The type of muscle in the current massage area is determined based on the electromyographic signal, and the initial amplitude is determined based on the type of muscle. The amplitude of the massage device is adjusted to the initial amplitude so that the massage device massages the current massage area at the initial amplitude; The type of muscle in the current massage area is determined based on the electromyographic signals, specifically including: Extract feature data from the electromyographic signal, wherein the feature data includes at least time-domain feature data, frequency-domain feature data, and time-frequency feature data; The feature data is input into a pre-trained classification model, and the type of muscle in the current massage area is determined based on the classification result output by the classification model. The method further includes: After the massage device massages the current massage area with an initial amplitude, it continuously acquires the electromyographic signal of the current massage area and calculates the root mean square value of the continuously acquired electromyographic signal within a preset time period. The target amplitude is determined based on the root mean square value and the initial amplitude, and the amplitude of the massage device is adjusted to the target amplitude so that the massage device massages the current massage area at the target amplitude; Determining the target amplitude based on the root mean square value and the initial amplitude specifically includes: The muscle fatigue level of the current massage area is determined based on the preset range of the root mean square value, and the initial amplitude is corrected based on the muscle fatigue level to obtain the target amplitude.

2. The amplitude modulation method based on electromyographic signals according to claim 1, characterized in that, Before extracting the feature data from the electromyographic signal, the process also includes: The electromyographic signal is preprocessed, and the preprocessing includes at least noise filtering, signal amplification, and filtering.

3. The amplitude modulation method based on electromyographic signals according to claim 1, characterized in that, The initial amplitude is determined based on the muscle type, specifically including: A pre-established correspondence between muscle types and initial amplitudes is created, and the initial amplitude is determined based on the muscle type of the current massage area and the correspondence.

4. An amplitude modulation device based on electromyographic signals, characterized in that, include: Acquisition unit, used to acquire electromyographic signals of the current massage area; The determining unit is used to determine the type of muscle in the current massage area based on the electromyographic signal, and to determine the initial amplitude based on the type of muscle. An adjustment unit is used to adjust the amplitude of the massage device to the initial amplitude, so that the massage device massages the current massage area at the initial amplitude. The type of muscle in the current massage area is determined based on the electromyographic signals, specifically including: Extract feature data from the electromyographic signal, wherein the feature data includes at least time-domain feature data, frequency-domain feature data, and time-frequency feature data; The feature data is input into a pre-trained classification model, and the type of muscle in the current massage area is determined based on the classification result output by the classification model. The determining unit is further configured to: after the massage device massages the current massage area with an initial amplitude, continuously acquire the electromyographic signal of the current massage area, and calculate the root mean square value of the continuously acquired electromyographic signal within a preset time period; and determine the target amplitude based on the root mean square value and the initial amplitude. The adjustment unit is further configured to: adjust the amplitude of the massage device to the target amplitude, so that the massage device massages the current massage area with the target amplitude; Determining the target amplitude based on the root mean square value and the initial amplitude specifically includes: The muscle fatigue level of the current massage area is determined based on the preset range of the root mean square value, and the initial amplitude is corrected based on the muscle fatigue level to obtain the target amplitude.

5. A massage device, comprising a main unit and a massage head, wherein the main unit includes a control module and a continuously variable amplitude reciprocating drive mechanism, characterized in that, Also includes: Electromyography (EMG) signal detection module; The electromyography (EMG) signal detection module is integrated into the massage head and is used to acquire the EMG signal of the current massage area. The control module is used to determine the type of muscle in the current massage area based on the electromyographic signal, and to determine the initial amplitude based on the type of muscle. The continuously variable reciprocating drive mechanism is used to adjust the amplitude of the massage device to the initial amplitude, so that the massage device massages the current massage area with the initial amplitude; The type of muscle in the current massage area is determined based on the electromyographic signals, specifically including: Extract feature data from the electromyographic signal, wherein the feature data includes at least time-domain feature data, frequency-domain feature data, and time-frequency feature data; The feature data is input into a pre-trained classification model, and the type of muscle in the current massage area is determined based on the classification result output by the classification model. The control module is further configured to: after the massage device massages the current massage area with an initial amplitude, continuously acquire the electromyographic signal of the current massage area, and calculate the root mean square value of the continuously acquired electromyographic signal within a preset time period; and determine the target amplitude based on the root mean square value and the initial amplitude. The continuously variable reciprocating drive mechanism is further used to: adjust the amplitude of the massage device to the target amplitude, so that the massage device massages the current massage area with the target amplitude; Determining the target amplitude based on the root mean square value and the initial amplitude specifically includes: The muscle fatigue level of the current massage area is determined based on the preset range of the root mean square value, and the initial amplitude is corrected based on the muscle fatigue level to obtain the target amplitude.

6. The massage device according to claim 5, characterized in that, The continuously variable reciprocating drive mechanism includes a crank-slider mechanism, an adjusting rod, and a position adjusting mechanism, which are sequentially hinged together by an eccentric wheel, an output rod, a connecting rod, and a piston. The hinge point between the output rod and the connecting rod is a swing hinge point, and the adjusting rod has a swing end and an adjusting end; The piston is connected to the massage head, and the position adjustment mechanism is electrically connected to the control module; The swing end of the adjusting rod is hinged to the output rod, and the adjusting end of the adjusting rod is hinged to the position adjusting mechanism; The position adjustment mechanism is used to drive the adjustment end of the adjustment rod to move relative to the control signal sent by the control module, so as to limit the swing range of the swing hinge point.

7. The massage device according to claim 6, characterized in that, The position adjustment mechanism includes a drive motor, a lead screw, and a lead screw nut; The lead screw nut is rotatably mounted on the adjusting end of the adjusting rod, and the lead screw is connected to the rotation input end of the drive motor; The drive motor is electrically connected to the control module. The drive motor is used to rotate forward or reverse according to the control signal sent by the control module, so as to drive the lead screw to rotate and thus drive the lead screw nut to slide along the axial direction of the lead screw.

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