A method, system, electronic device, and storage medium for generating electrical stimulation signals.

Abstract

The present invention discloses a method, system, electronic device and storage medium for generating an electrical stimulation signal, and relates to the technical field of electrical stimulation signal generation, comprising the following steps: collecting normal signal parameters of normal muscles in different states; analyzing the normal signal parameters to obtain normal parameter functions of different parameters of normal muscles; testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; based on the normal parameter value, generating an electrical stimulation signal by a signal generating device to stimulate the muscle to be restored; the present invention is used to solve the problem that the existing electrical stimulation signal generation technology still has the problem of unreasonable change process of the electrical stimulation signal and insufficient reliability of data in the application of restoring muscle function, resulting in insufficient effect of the generation of the electrical stimulation signal on restoring muscle function.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical stimulation signal generation, and in particular to a method, system, electronic device and storage medium for generating an electrical stimulation signal. Background Art

[0002] Electrical stimulation signal generation technology refers to the technology of generating electrical signals for stimulating biological tissues or nervous systems through current or voltage. This technology is often used in fields such as medicine, neuroscience, and bioengineering to treat, study, or simulate nerve and muscle activities.

[0003] In the application of restoring muscle function, the existing electrical stimulation signal generation technology usually gradually stimulates the muscle by slowly increasing the frequency, amplitude and pulse width of the electrical stimulation signal. However, the electrical signal in the muscle does not change slowly, but changes instantly. Therefore, when stimulating the muscle, an instantaneous changing parameter should be set to generate the electrical stimulation signal, so that it can be more in line with the change of the electrical signal in the muscle under normal circumstances. At the same time, the application of the existing electrical stimulation signal generation technology in restoring muscle function requires training a certain model to generate the parameters of the electrical stimulation signal, and the existing electrical stimulation signal generation technology does not have a detailed explanation of the specific training of the model or the specific calculation process of the parameters. For example, in the Chinese patent with application publication number CN117731951A, a rehabilitation exercise model training method, a rehabilitation exercise guiding method, a device and a system are disclosed. The scheme trains an LSTM model, but does not mention the training process of the LSTM model. The reference motion data obtained has no specific calculation process, resulting in insufficient data reliability. The existing electrical stimulation signal generation technology also has the problem that the change process of the electrical stimulation signal is not reasonable and the data reliability is insufficient in the application of restoring muscle function, resulting in insufficient effect of the generation of the electrical stimulation signal on restoring muscle function. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent, by collecting normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters, and then analyzing the normal signal parameters to obtain normal parameter functions of different parameters of normal muscles, by testing the perception threshold of the muscle to be restored, calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function, and then based on the normal parameter value, generating an electrical stimulation signal through a signal generating device to stimulate the muscle to be restored, so as to solve the problem that the existing electrical stimulation signal generation technology still has the unreasonable change process of the electrical stimulation signal and the insufficient reliability of the data in the application of restoring muscle function, resulting in the insufficient effect of the generation of electrical stimulation signals on restoring muscle function.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for generating an electrical stimulation signal, comprising the following steps:

[0006] Collect normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters;

[0007] Analyze the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles;

[0008] Testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function;

[0009] Based on the normal parameter values, an electrical stimulation signal is generated by a signal generating device to stimulate the muscles to be recovered.

[0010] Furthermore, collecting normal electrical stimulation signals of normal muscles in different states and obtaining normal signal parameters includes the following sub-steps:

[0011] The bending angle range of normal muscles is obtained, and the minimum value and the maximum value of the bending angle range are named as the minimum bending angle and the maximum bending angle respectively;

[0012] Set the angle grouping of the first grouping number, calculate (Amax-Amin) / (a-1), and obtain the angle gradient, which is represented by the symbol AG, where Amax is the maximum bending angle, Amin is the minimum bending angle, and a is the first grouping number;

[0013] The angle grouping includes grouping angles, and the grouping angles are sorted in order from small to large. n Indicates, where n is a positive integer and n is the serial number of S, the S n The corresponding grouping angle is Amin+(n-1)×AG;

[0014] A perception test is performed on the angle groups, and normal signal parameters are obtained by analyzing the results of the perception test.

[0015] Further, performing a perception test on the angle groups and obtaining normal signal parameters by analyzing the results of the perception test includes the following sub-steps:

[0016] The angle group includes a first number of volunteers for each test. n , detect S n The frequency, amplitude and pulse width of normal electrical signals in normal muscles of several volunteers are named normal frequency, normal amplitude and normal pulse width, respectively. 1 The normal frequency, normal amplitude and normal pulse width are also called the perceived frequency, perceived amplitude and perceived pulse width;

[0017] The normal frequency, normal amplitude, normal pulse width, sensed frequency, sensed amplitude and sensed pulse width are collectively referred to as normal signal parameters.

[0018] Furthermore, the normal signal parameters are analyzed to obtain normal parameter functions of different parameters of normal muscles, including the following sub-steps:

[0019] S n As the X-axis, a rectangular coordinate system is established with normal frequency, normal amplitude and normal pulse width as the Y-axis, and they are named frequency scatter plot, amplitude scatter plot and pulse width scatter plot respectively;

[0020] S n And the corresponding normal frequency input frequency scatter plot, S n And the corresponding normal amplitude input amplitude scatter plot, S n And the corresponding normal pulse width recorded pulse width scatter plot;

[0021] Performing polynomial regression on the frequency scatter plot, the amplitude scatter plot and the pulse width scatter plot to obtain a normal frequency function, a normal amplitude function and a normal pulse width function;

[0022] The normal frequency function, the normal amplitude function and the normal pulse width function are collectively referred to as normal parameter functions.

[0023] Further, testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function includes the following sub-steps:

[0024] Draw a normal frequency function in the frequency scatter plot, and name the resulting curve a normal frequency curve;

[0025] Draw a normal amplitude function in the amplitude scatter plot, and name the resulting curve a normal amplitude curve;

[0026] Draw a normal pulse width function in the pulse width scatter plot, and name the resulting curve a normal pulse width curve;

[0027] The normal frequency curve, the normal amplitude curve and the normal pulse width curve are collectively referred to as normal parameter curves;

[0028] Obtain a normal frequency range, a normal amplitude range, and a normal pulse width range, and name the minimum value and the maximum value of the normal frequency range as the normal minimum frequency and the normal maximum frequency; name the minimum value and the maximum value of the normal amplitude range as the normal minimum amplitude and the normal maximum amplitude; and name the minimum value and the maximum value of the normal pulse width range as the normal minimum pulse width and the normal maximum pulse width;

[0029] Calculate (Fmax-Fmin) / α, and mark the calculation result as frequency gradient; calculate (Rmax-Rmin) / α, and mark the calculation result as amplitude gradient; (Pmax-Pmin) / α, and mark the calculation result as pulse width gradient;

[0030] The perception threshold of the muscle to be restored is tested, and the normal parameter value of the muscle to be restored is calculated and analyzed in combination with the normal parameter function and the normal parameter curve. The perception threshold includes the perception frequency threshold, the perception amplitude threshold and the perception pulse width threshold.

[0031] Further, testing the perception threshold of the muscle to be restored, and calculating and analyzing the normal parameter value of the muscle to be restored by combining the normal parameter function and the normal parameter curve includes the following sub-steps:

[0032] The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are respectively set to the normal minimum frequency minus the frequency gradient, the normal minimum amplitude minus the amplitude gradient and the normal minimum pulse width minus the pulse width gradient;

[0033] First, the signal frequency is increased by the frequency gradient to obtain whether the user is aware of it. If so, a frequency awareness confirmation signal is output; if not, a frequency non-aware signal is output;

[0034] If a frequency perception confirmation signal is output, the signal frequency is marked as the frequency perception threshold and the signal frequency is reduced by the frequency gradient; if the output frequency does not perceive the signal, the signal amplitude is increased by the amplitude gradient to obtain whether the user perceives it. If so, an amplitude perception confirmation signal is output; if not, an amplitude non-perception signal is output;

[0035] If an amplitude perception confirmation signal is output, the signal amplitude is marked as the amplitude perception threshold and the signal amplitude is reduced by the amplitude gradient; if an amplitude non-perception signal is output, the signal pulse width is increased by the pulse width gradient to obtain whether the user has perception. If so, a pulse width perception confirmation signal is output; if not, a pulse width non-perception signal is output;

[0036] If a pulse width sensing confirmation signal is output, the signal pulse width is marked as the pulse width sensing threshold and the signal pulse width is reduced by the pulse width gradient; if the output amplitude does not sense the signal, the steps of increasing the signal frequency, signal amplitude and signal pulse width are repeatedly executed until the frequency sensing threshold, amplitude sensing threshold and pulse width sensing threshold are found and then the process stops;

[0037] The normal frequency curve is S 1 The coordinate point at S is named as the frequency perception point; the normal amplitude curve is 1 The coordinate point at S is named as the amplitude sensing point; the normal pulse width curve is 1 The coordinate point at is named as the pulse width sensing point;

[0038] The normal frequency curve is vertically moved to the frequency perception threshold based on the frequency perception point to obtain a new function, named the frequency target function; the normal amplitude curve is vertically moved to the amplitude perception threshold based on the amplitude perception point to obtain a new function, named the amplitude target function; the normal pulse width curve is vertically moved to the pulse width perception threshold based on the pulse width perception point to obtain a new function, named the pulse width target function;

[0039] The frequency objective function, amplitude objective function and pulse width objective function are calculated in S n The values ​​at are integrated into normal parameter values ​​in the format of (target frequency, target amplitude, target pulse width). Each S n Each corresponds to a normal parameter value.

[0040] Further, based on the normal parameter value, generating an electrical stimulation signal by a signal generating device to stimulate the muscle to be restored includes the following sub-steps:

[0041] According to S n In the order of n from small to large, the signal generating device generates an electrical stimulation signal to stimulate the muscle to be recovered;

[0042] The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are calculated according to S n Set the corresponding normal parameter values.

[0043] In a second aspect, the present application provides an electrical stimulation signal generation system, comprising a normal parameter acquisition module, a normal parameter analysis module, a normal parameter calculation module and an electrical stimulation signal generation module; the normal parameter acquisition module, the normal parameter analysis module and the electrical stimulation signal generation module are respectively data-connected to the normal parameter calculation module;

[0044] The normal parameter acquisition module is used to acquire normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters;

[0045] The normal parameter analysis module is used to analyze the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles;

[0046] The normal parameter calculation module is used to test the perception threshold of the muscle to be restored, and calculate the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function;

[0047] The electrical stimulation signal generating module is used to generate an electrical stimulation signal through a signal generating device based on a normal parameter value to stimulate the muscle to be restored.

[0048] In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in any one of the methods described above are executed.

[0049] In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in any one of the methods described above are executed.

[0050] Beneficial effects of the present invention: The present invention acquires normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters, and then analyzes the normal signal parameters to obtain normal parameter functions of different parameters of normal muscles. The advantage is that the normal signal parameters reflect the frequency, amplitude and pulse width of the electrical signals of normal muscles in different bending angles, and the normal parameter function obtained by analyzing the normal signal parameters can reflect the changing trend of the electrical signals in the muscles as the bending angle increases, thereby improving the accuracy and effectiveness of the generation of electrical stimulation signals.

[0051] The present invention tests the perception threshold of the muscle to be restored, and calculates the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function. The advantage is that the perception threshold of muscles of different people is also different, and the starting point of the user's normal parameter function can be obtained by testing the perception threshold when the muscle is not bent. By moving the normal parameter function to the perception threshold, the parameter size of the subsequent electrical stimulation signal can be generated based on the user's perception threshold and follow the changing trend of the normal parameter function, thereby improving the rationality and accuracy of the change of the electrical stimulation signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a functional block diagram of the system of the present invention;

[0053] Figure 2 is a frequency scatter plot of the present invention;

[0054] Figure 3 is the amplitude scatter plot of the present invention;

[0055] Figure 4 It is a pulse width scatter diagram of the present invention;

[0056] Figure 5 A schematic diagram of a frequency sensing point of the present invention;

[0057] Figure 6 A schematic diagram of the amplitude sensing point of the present invention;

[0058] Figure 7 A schematic diagram of a pulse width sensing point of the present invention;

[0059] Figure 8The figure is a flow chart of the steps of the method of the present invention. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0061] Example 1, please refer to Figure 1 As shown, in the first aspect, the present application provides a system for generating an electrical stimulation signal, comprising a normal parameter acquisition module, a normal parameter analysis module, a normal parameter calculation module and an electrical stimulation signal generation module; the normal parameter acquisition module, the normal parameter analysis module and the electrical stimulation signal generation module are respectively data-connected with the normal parameter calculation module;

[0062] The normal parameter acquisition module is used to collect normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters; the normal parameter acquisition module includes a bending grouping test unit and a perception test unit;

[0063] The bending group test unit is configured with a bending group test strategy, which includes:

[0064] The bending angle range of normal muscles is obtained, and the minimum value and the maximum value of the bending angle range are named as the minimum bending angle and the maximum bending angle respectively;

[0065] Set the angle grouping of the first grouping number, calculate (Amax-Amin) / (a-1), and obtain the angle gradient, which is represented by the symbol AG, where Amax is the maximum bending angle, Amin is the minimum bending angle, and a is the first grouping number;

[0066] The angle grouping includes grouping angles. The grouping angles are sorted in order from small to large. n Indicates, where n is a positive integer and n is the serial number of S, S n The corresponding grouping angle is Amin+(n-1)×AG;

[0067] Perform perception tests on angle groups and obtain normal signal parameters by analyzing the results of the perception tests;

[0068] In practical applications, the muscles to be restored in this embodiment are arm muscles, so the bending angle range of normal muscles is 0° to 165°, so the minimum bending angle is 0° and the maximum bending angle is 165°. The angle grouping of the first grouping number is to select multiple angles in the bending angle range to stimulate the muscles to be restored, so as to simulate the activity of electrical signals when the muscles are bent. Therefore, there is no fixed value range for the first grouping number, and it can be set specifically according to the actual situation of the muscles to be restored. In this embodiment, the first grouping number is set to 10, so the angle gradient is calculated to be 18°, and the calculation result retains an integer, that is, for S n , the grouping angle is 0°+(n-1)×18°;

[0069] The perception test unit is configured with a perception test strategy, which includes:

[0070] The angle group includes the first number of volunteers for any S n , detect S n The frequency, amplitude and pulse width of normal electrical signals in normal muscles of several volunteers are named normal frequency, normal amplitude and normal pulse width, respectively. 1 The normal frequency, normal amplitude and normal pulse width are also called the perceived frequency, perceived amplitude and perceived pulse width;

[0071] Normal frequency, normal amplitude, normal pulse width, sensed frequency, sensed amplitude and sensed pulse width are collectively referred to as normal signal parameters;

[0072] In actual applications, the first test quantity is set to 100, and the number of volunteers is 100. In different angle groups, the 100 volunteers adjust their arms to corresponding postures according to the grouping angles corresponding to the angle groups, and then the volunteers are measured, and the measurement uses existing electromyography technology to acquire data; since the arm is laid flat and then bent, the angle grouping of the arm with a bending angle of 0° is used as the grouping of the perceived electrical signals, providing a basis for subsequent analysis; since too many data samples are collected, they are not specifically displayed in this embodiment, and you only need to know the origin of the data.

[0073] The normal parameter analysis module is used to analyze the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles;

[0074] See also Figures 2 to 4 As shown, the normal parameter analysis module is configured with a normal parameter analysis strategy, which includes:

[0075] S n As the X-axis, a rectangular coordinate system is established with normal frequency, normal amplitude and normal pulse width as the Y-axis, and they are named frequency scatter plot, amplitude scatter plot and pulse width scatter plot respectively;

[0076] S n And the corresponding normal frequency input frequency scatter plot, S n And the corresponding normal amplitude input amplitude scatter plot, S n And the corresponding normal pulse width recorded pulse width scatter plot;

[0077] Perform polynomial regression on the frequency scatter plot, amplitude scatter plot and pulse width scatter plot to obtain the normal frequency function, normal amplitude function and normal pulse width function; in practical applications, the frequency scatter plot, amplitude scatter plot and pulse width scatter plot can be analyzed by polynomial regression to obtain the changing trends of frequency, amplitude and pulse width at different bending angles. Different people may have different frequencies, amplitudes and pulse widths at the same bending angle, but as the bending angle changes, their changing trends should be similar, so the trend function of their changes can be obtained through the regression function;

[0078] Normal frequency function, normal amplitude function and normal pulse width function are collectively referred to as normal parameter functions;

[0079] In practical applications, the frequency scatter plot is constructed as follows Figure 2 As shown, the amplitude scatter plot is Figure 3 As shown in the figure, the pulse width scatter plot is as follows Figure 4 As shown; the normal frequency function obtained by polynomial regression is YF = 0.2561 × X 2 +0.3567×X+19.58, the normal amplitude function is YR=0.4985×X 2 +3.6561×X+10.14, the normal pulse width function is YP=-0.7932×X 2 +35.947×X+188.35, where YF is the normal frequency, YR is the normal amplitude, YP is the normal pulse width, and X is S n ;

[0080] The normal parameter calculation module is used to test the perception threshold of the muscle to be restored, and calculate the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; the normal parameter calculation module includes a normal frequency curve analysis unit and a normal parameter value analysis unit;

[0081] The normal frequency curve analysis unit is configured with a normal frequency curve analysis strategy, which includes:

[0082] Draw a normal frequency function in the frequency scatter plot, and name the resulting curve a normal frequency curve;

[0083] Draw a normal amplitude function in the amplitude scatter plot, and name the resulting curve a normal amplitude curve;

[0084] Draw a normal pulse width function in the pulse width scatter plot, and name the resulting curve a normal pulse width curve;

[0085] The normal frequency curve, the normal amplitude curve and the normal pulse width curve are collectively referred to as the normal parameter curve;

[0086] Obtain a normal frequency range, a normal amplitude range, and a normal pulse width range, and name the minimum value and the maximum value of the normal frequency range as the normal minimum frequency and the normal maximum frequency; name the minimum value and the maximum value of the normal amplitude range as the normal minimum amplitude and the normal maximum amplitude; and name the minimum value and the maximum value of the normal pulse width range as the normal minimum pulse width and the normal maximum pulse width;

[0087] Calculate (Fmax-Fmin) / α, and mark the calculation result as frequency gradient; calculate (Rmax-Rmin) / α, and mark the calculation result as amplitude gradient; (Pmax-Pmin) / α, and mark the calculation result as pulse width gradient;

[0088] Test the perception threshold of the muscle to be restored, and calculate and analyze the normal parameter value of the muscle to be restored by combining the normal parameter function and the normal parameter curve. The perception threshold includes the perception frequency threshold, the perception amplitude threshold, and the perception pulse width threshold;

[0089] In practical applications, a normal frequency curve, a normal amplitude curve and a normal pulse width curve are drawn, and the normal frequency range is 20Hz to 50Hz, that is, Fmax=50Hz, Fmin=20Hz; the normal amplitude range is 10mA to 100mA, that is, Rmax=100mA, Rmin=10mA; the normal pulse width range is 200μs to 400μs, that is, Pmax=400μs, Pmin=200μs; α is set to gradually increase the frequency, amplitude and pulse width according to a certain ratio to find the perception threshold of the muscle to be restored. There is no fixed value range. In this embodiment, α is set to 50, and the frequency gradient is calculated to be 0.6Hz, the amplitude gradient is 1.8mA, and the pulse width gradient is 4μs;

[0090] The normal parameter value analysis unit is configured with a normal parameter value analysis strategy, and the normal parameter value analysis strategy includes:

[0091] The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are respectively set to the normal minimum frequency minus the frequency gradient, the normal minimum amplitude minus the amplitude gradient and the normal minimum pulse width minus the pulse width gradient;

[0092] First, the signal frequency is increased by the frequency gradient to obtain whether the user is aware of it. If so, a frequency awareness confirmation signal is output; if not, a frequency non-aware signal is output;

[0093] If a frequency perception confirmation signal is output, the signal frequency is marked as the frequency perception threshold and the signal frequency is reduced by the frequency gradient; if the output frequency does not perceive the signal, the signal amplitude is increased by the amplitude gradient to obtain whether the user perceives it. If so, an amplitude perception confirmation signal is output; if not, an amplitude non-perception signal is output;

[0094] If an amplitude perception confirmation signal is output, the signal amplitude is marked as the amplitude perception threshold and the signal amplitude is reduced by the amplitude gradient; if an amplitude non-perception signal is output, the signal pulse width is increased by the pulse width gradient to obtain whether the user has perception. If so, a pulse width perception confirmation signal is output; if not, a pulse width non-perception signal is output;

[0095] If a pulse width sensing confirmation signal is output, the signal pulse width is marked as the pulse width sensing threshold and the signal pulse width is reduced by the pulse width gradient; if the output amplitude does not sense the signal, the steps of increasing the signal frequency, signal amplitude and signal pulse width are repeatedly executed until the frequency sensing threshold, amplitude sensing threshold and pulse width sensing threshold are found and then the process stops;

[0096] In practical applications, the signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are set to the normal minimum frequency minus the frequency gradient, the normal minimum amplitude minus the amplitude gradient and the normal minimum pulse width minus the pulse width gradient, that is, the signal frequency is set to 20Hz, the signal amplitude is set to 10mA, the signal pulse width is set to 200μs, and the signal frequency is increased by 0.6Hz. At this time, the signal frequency is 20.6Hz. At this time, the user does not perceive it, so the output frequency does not perceive the signal. Then the signal amplitude is increased by 1.8mA. At this time, the signal amplitude is 11.8mA, and the user can perceive the electrical stimulation signal. Therefore, an amplitude perception confirmation signal is output, 11.8mA is set as the user's amplitude perception threshold, and then the signal amplitude is adjusted back to 10mA, and then the signal pulse width is increased by 4μs. At this time, the signal pulse width is 204μs. The user perceives the electrical stimulation signal, and a pulse width perception confirmation signal is output. 204μs is used as the user's pulse width perception threshold and the signal pulse width is adjusted back to 200μs. Then the signal frequency is increased by 0.6Hz. At this time, the signal frequency is 21.2Hz. The user perceives the electrical stimulation signal, so a frequency perception confirmation signal is output, and 21.2Hz is used as the user's frequency perception threshold.

[0097] See also Figures 5 to 7 As shown, the normal frequency curve is S 1 The coordinate point at S is named as the frequency perception point; the normal amplitude curve is 1 The coordinate point at S is named as the amplitude sensing point; the normal pulse width curve is 1 The coordinate point at is named as the pulse width sensing point;

[0098] The normal frequency curve is vertically moved to the frequency perception threshold based on the frequency perception point to obtain a new function, named the frequency target function; the normal amplitude curve is vertically moved to the amplitude perception threshold based on the amplitude perception point to obtain a new function, named the amplitude target function; the normal pulse width curve is vertically moved to the pulse width perception threshold based on the pulse width perception point to obtain a new function, named the pulse width target function; in actual applications, each person's perception threshold is different. If the perception threshold of other people is used to generate electrical stimulation signals, it will lead to stimulation failure or over-stimulation. The frequency perception threshold, amplitude perception threshold and pulse width perception threshold show the user's perception threshold of the frequency, amplitude and pulse width of the electrical stimulation signal, and the normal frequency curve, normal amplitude curve and normal pulse width curve show the changing trend of the frequency, amplitude and pulse width of the electrical signal as the bending angle of the muscle increases under normal circumstances. According to each person's perception threshold, the generation of electrical stimulation signals for users in combination with the changing trend can maximize the effect of the electrical stimulation signal;

[0099] The values ​​of the frequency target function, the amplitude target function and the pulse width target function at Sn are integrated into normal parameter values ​​in the format of (target frequency, target amplitude, target pulse width), and each Sn corresponds to a normal parameter value;

[0100] In practical applications, the frequency sensing point is Figure 5 As shown in Figure 1, the frequency sensing point is moved to YF = 21.2 Hz, and the frequency target function is YFM = 0.2561 × X2 + 0.3567 × X + 20.5872, where YFM is the target frequency; the amplitude sensing point is as follows Figure 6 As shown in Figure 1, the amplitude sensing point is moved to YR = 11.8 mA, and the amplitude target function is YRM = 0.4985 × X2 + 3.6561 × X + 7.6454, where YRM is the target amplitude; the pulse width sensing point is as follows Figure 7 As shown, the pulse width sensing point is moved to YP=204μs, and the pulse width target function is obtained as YPM=-0.7932×X2+35.947×X+168.8462, where YPM is the target pulse width; taking S1 and S2 as examples, for S1, n=1, substitute X=1 into the calculation to obtain the normal parameter value of (21.2Hz, 11.8mA, 204μs), for S2, n=2, substitute X=2 into the calculation to obtain the normal parameter value of (22.3Hz, 17.0mA, 237.6μs), and so on to obtain the normal parameter values ​​of S1 to S10.

[0101] The electrical stimulation signal generation module is used to generate an electrical stimulation signal through a signal generation device based on the normal parameter value to stimulate the muscle to be recovered;

[0102] The electrical stimulation signal generation module is configured with an electrical stimulation signal generation strategy, which includes:

[0103] According to S n In the order of n from small to large, the signal generating device generates an electrical stimulation signal to stimulate the muscle to be recovered;

[0104] The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are calculated according to S n Set the corresponding normal parameter values;

[0105] In practical applications, the signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are set to (21.2 Hz, 11.8 mA, 204 μs) and the electrical stimulation signal is generated by the signal generating device to stimulate the muscles to be restored. After the stimulation is completed, the parameters are set to (22.3 Hz, 17.0 mA, 237.6 μs) for stimulation, and so on, until the S is completed. 10 The signal generation device adopts the existing FES device.

[0106] Example 2, please refer to Figure 8 As shown, in a second aspect, the present application provides a method for generating an electrical stimulation signal, comprising the following steps:

[0107] Step S1, collecting normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters; Step S1 includes the following sub-steps:

[0108] Step S101, obtaining a bending angle range of a normal muscle, and naming the minimum value and the maximum value of the bending angle range as the minimum bending angle and the maximum bending angle respectively;

[0109] Step S102, setting the angle groups of the first group number, calculating (Amax-Amin) / (a-1), and obtaining the angle gradient, which is represented by the symbol AG, wherein Amax is the maximum bending angle, Amin is the minimum bending angle, and a is the first group number;

[0110] Step S103: The angle grouping includes grouping angles, and the grouping angles are sorted in order from small to large. n Indicates, where n is a positive integer and n is the serial number of S, S n The corresponding grouping angle is Amin+(n-1)×AG;

[0111] Step S104, performing a perception test on the angle groups, and obtaining normal signal parameters by analyzing the results of the perception test;

[0112] Step S104 includes the following sub-steps:

[0113] Step S1041: The angle group includes the first number of volunteers for testing. n , detect S n The frequency, amplitude and pulse width of normal electrical signals in normal muscles of several volunteers are named normal frequency, normal amplitude and normal pulse width, respectively. 1 The normal frequency, normal amplitude and normal pulse width are also called the perceived frequency, perceived amplitude and perceived pulse width;

[0114] Step S1042, normal frequency, normal amplitude, normal pulse width, sensed frequency, sensed amplitude and sensed pulse width are collectively referred to as normal signal parameters;

[0115] Step S2, analyzing the normal signal parameters to obtain normal parameter functions of different parameters of normal muscles; Step S2 includes the following sub-steps:

[0116] Step S201, with S n As the X-axis, a rectangular coordinate system is established with normal frequency, normal amplitude and normal pulse width as the Y-axis, and they are named frequency scatter plot, amplitude scatter plot and pulse width scatter plot respectively;

[0117] Step S202: n And the corresponding normal frequency input frequency scatter plot, S n And the corresponding normal amplitude input amplitude scatter plot, S n And the corresponding normal pulse width recorded pulse width scatter plot;

[0118] Step S203, performing polynomial regression on the frequency scatter plot, the amplitude scatter plot and the pulse width scatter plot to obtain a normal frequency function, a normal amplitude function and a normal pulse width function;

[0119] Step S204, the normal frequency function, the normal amplitude function and the normal pulse width function are collectively referred to as normal parameter functions;

[0120] Step S3, testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; Step S3 includes the following sub-steps:

[0121] Step S301, drawing a normal frequency function in a frequency scatter plot, and naming the drawn curve as a normal frequency curve;

[0122] Step S302, drawing a normal amplitude function in the amplitude scatter plot, and naming the drawn curve a normal amplitude curve;

[0123] Step S303, drawing a normal pulse width function in the pulse width scatter plot, and naming the drawn curve as a normal pulse width curve;

[0124] Step S304, the normal frequency curve, the normal amplitude curve and the normal pulse width curve are collectively referred to as the normal parameter curve;

[0125] Step S305, obtaining a normal frequency range, a normal amplitude range, and a normal pulse width range, naming the minimum value and the maximum value of the normal frequency range as the normal minimum frequency and the normal maximum frequency; naming the minimum value and the maximum value of the normal amplitude range as the normal minimum amplitude and the normal maximum amplitude; naming the minimum value and the maximum value of the normal pulse width range as the normal minimum pulse width and the normal maximum pulse width;

[0126] Step S306, calculate (Fmax-Fmin) / α, and mark the calculation result as frequency gradient; calculate (Rmax-Rmin) / α, and mark the calculation result as amplitude gradient; calculate (Pmax-Pmin) / α, and mark the calculation result as pulse width gradient;

[0127] Step S307, testing the perception threshold of the muscle to be restored, and calculating and analyzing the normal parameter value of the muscle to be restored in combination with the normal parameter function and the normal parameter curve, wherein the perception threshold includes a perception frequency threshold, a perception amplitude threshold, and a perception pulse width threshold;

[0128] Step S307 includes the following sub-steps:

[0129] Step S3071, setting the signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal to the normal minimum frequency minus the frequency gradient, the normal minimum amplitude minus the amplitude gradient and the normal minimum pulse width minus the pulse width gradient respectively;

[0130] Step S3072, first increase the signal frequency by the frequency gradient to obtain whether the user is aware of it, and if so, output a frequency awareness confirmation signal; if not, output a frequency non-aware signal;

[0131] Step S3073: if a frequency perception confirmation signal is output, the signal frequency is marked as the frequency perception threshold and the signal frequency is reduced by the frequency gradient; if the frequency is not perceived, the signal amplitude is increased by the amplitude gradient to obtain whether the user perceives it. If so, an amplitude perception confirmation signal is output; if not, an amplitude non-perception signal is output;

[0132] Step S3074: if an amplitude perception confirmation signal is output, the signal amplitude is marked as the amplitude perception threshold and the signal amplitude is reduced by the amplitude gradient; if an amplitude non-perception signal is output, the signal pulse width is increased by the pulse width gradient to obtain whether the user has perception, and if so, a pulse width perception confirmation signal is output; if not, a pulse width non-perception signal is output;

[0133] Step S3075, if a pulse width sensing confirmation signal is output, the signal pulse width is marked as the pulse width sensing threshold and the signal pulse width is reduced by the pulse width gradient; if the output amplitude does not sense the signal, the steps of increasing the signal frequency, signal amplitude and signal pulse width are repeatedly executed until the frequency sensing threshold, amplitude sensing threshold and pulse width sensing threshold are found and then stopped;

[0134] Step S3076: set the normal frequency curve at S 1 The coordinate point at S is named as the frequency perception point; the normal amplitude curve is 1 The coordinate point at S is named as the amplitude sensing point; the normal pulse width curve is 1 The coordinate point at is named as the pulse width sensing point;

[0135] Step S3077, vertically move the normal frequency curve to the frequency perception threshold based on the frequency perception point to obtain a new function, named the frequency target function; vertically move the normal amplitude curve to the amplitude perception threshold based on the amplitude perception point to obtain a new function, named the amplitude target function; vertically move the normal pulse width curve to the pulse width perception threshold based on the pulse width perception point to obtain a new function, named the pulse width target function;

[0136] Step S3078: frequency objective function, amplitude objective function and pulse width objective function are converted into n The values ​​at are integrated into normal parameter values ​​in the format of (target frequency, target amplitude, target pulse width). Each S n Each corresponds to a normal parameter value;

[0137] Step S4, based on the normal parameter value, generating an electrical stimulation signal through a signal generating device to stimulate the muscle to be restored; Step S4 includes the following sub-steps:

[0138] According to S n In the order of n from small to large, the signal generating device generates an electrical stimulation signal to stimulate the muscle to be recovered;

[0139] The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are calculated according to S n Set the corresponding normal parameter values.

[0140] Embodiment 3, third aspect, the present application provides an electronic device, including a processor and a memory, the memory storing computer-readable instructions, when the computer-readable instructions are executed by the processor, the steps in any one of the above methods are executed. Through the above technical solution, the processor and the memory are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms, the memory stores a computer program executable by the processor, when the electronic device is running, the processor executes the computer program to execute the method in any optional implementation of the above embodiment, to achieve the following functions: collect normal signal parameters of normal muscles in different states; analyze the normal signal parameters to obtain normal parameter functions of different parameters of normal muscles; test the perception threshold of the muscle to be restored, and calculate the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; based on the normal parameter value, generate an electrical stimulation signal through a signal generating device to stimulate the muscle to be restored.

[0141] Embodiment 4, fourth aspect, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in any one of the above methods are executed. Through the above technical scheme, when the computer program is executed by the processor, the method in any optional implementation of the above embodiment is executed to achieve the following functions: collect normal signal parameters of normal muscles in different states; analyze the normal signal parameters to obtain the normal parameter function of different parameters of normal muscles; test the perception threshold of the muscle to be restored, and calculate the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; based on the normal parameter value, generate an electrical stimulation signal through a signal generating device to stimulate the muscle to be restored.

[0142] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0143] It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, systems or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

Claims

1. A method for generating an electrical stimulation signal, characterized in that: The steps include: Collect normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters; Analyze the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles; Testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; Based on the normal parameter value, an electrical stimulation signal is generated by a signal generating device to stimulate the muscle to be recovered; Collecting normal electrical stimulation signals of normal muscles in different states and obtaining normal signal parameters includes the following sub-steps: The bending angle range of normal muscles is obtained, and the minimum value and the maximum value of the bending angle range are named as the minimum bending angle and the maximum bending angle respectively; Set the angle grouping of the first grouping number, calculate (Amax-Amin) / (a-1), and obtain the angle gradient, which is represented by the symbol AG, where Amax is the maximum bending angle, Amin is the minimum bending angle, and a is the first grouping number; The angle grouping includes grouping angles, and the grouping angles are sorted in order from small to large. n Indicates, where n is a positive integer and n is the serial number of S, the S n The corresponding grouping angle is Amin+(n-1)×AG; Perform perception tests on angle groups and obtain normal signal parameters by analyzing the results of the perception tests; Performing a perception test on the angle groups and obtaining normal signal parameters by analyzing the results of the perception test includes the following sub-steps: The angle group includes a first number of volunteers for each test. n , detect S n The frequency, amplitude and pulse width of normal electrical signals in normal muscles of several volunteers are named normal frequency, normal amplitude and normal pulse width respectively, and the normal frequency, normal amplitude and normal pulse width in S1 are also called perceived frequency, perceived amplitude and perceived pulse width; The normal frequency, normal amplitude, normal pulse width, sensed frequency, sensed amplitude and sensed pulse width are collectively referred to as normal signal parameters; Analyzing the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles includes the following sub-steps: S n As the X-axis, a rectangular coordinate system is established with normal frequency, normal amplitude and normal pulse width as the Y-axis, and they are named frequency scatter plot, amplitude scatter plot and pulse width scatter plot respectively; S n And the corresponding normal frequency input frequency scatter plot, S n And the corresponding normal amplitude input amplitude scatter plot, S n And the corresponding normal pulse width recorded pulse width scatter plot; Performing polynomial regression on the frequency scatter plot, the amplitude scatter plot and the pulse width scatter plot to obtain a normal frequency function, a normal amplitude function and a normal pulse width function; The normal frequency function, normal amplitude function and normal pulse width function are collectively referred to as normal parameter functions; Testing the perception threshold of the muscle to be restored, and calculating the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function includes the following sub-steps: Draw a normal frequency function in the frequency scatter plot, and name the resulting curve a normal frequency curve; Draw a normal amplitude function in the amplitude scatter plot, and name the resulting curve a normal amplitude curve; Draw a normal pulse width function in the pulse width scatter plot, and name the resulting curve a normal pulse width curve; The normal frequency curve, the normal amplitude curve and the normal pulse width curve are collectively referred to as normal parameter curves; Obtain a normal frequency range, a normal amplitude range, and a normal pulse width range, and name the minimum value and the maximum value of the normal frequency range as the normal minimum frequency and the normal maximum frequency; name the minimum value and the maximum value of the normal amplitude range as the normal minimum amplitude and the normal maximum amplitude; and name the minimum value and the maximum value of the normal pulse width range as the normal minimum pulse width and the normal maximum pulse width; Calculate (Fmax-Fmin) / α, and mark the calculation result as frequency gradient; calculate (Rmax-Rmin) / α, and mark the calculation result as amplitude gradient; (Pmax-Pmin) / α, and mark the calculation result as pulse width gradient; Testing the perception threshold of the muscle to be restored, and calculating and analyzing the normal parameter value of the muscle to be restored in combination with the normal parameter function and the normal parameter curve, wherein the perception threshold includes the perception frequency threshold, the perception amplitude threshold, and the perception pulse width threshold; Testing the perception threshold of the muscle to be restored, and calculating and analyzing the normal parameter value of the muscle to be restored by combining the normal parameter function and the normal parameter curve includes the following sub-steps: The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are respectively set to the normal minimum frequency minus the frequency gradient, the normal minimum amplitude minus the amplitude gradient and the normal minimum pulse width minus the pulse width gradient; First, the signal frequency is increased by the frequency gradient to obtain whether the user is aware of it. If so, a frequency awareness confirmation signal is output; if not, a frequency non-aware signal is output; If a frequency perception confirmation signal is output, the signal frequency is marked as the frequency perception threshold and the signal frequency is reduced by the frequency gradient; if the output frequency does not perceive the signal, the signal amplitude is increased by the amplitude gradient to obtain whether the user perceives it. If so, an amplitude perception confirmation signal is output; if not, an amplitude non-perception signal is output; If an amplitude perception confirmation signal is output, the signal amplitude is marked as the amplitude perception threshold and the signal amplitude is reduced by the amplitude gradient; if an amplitude non-perception signal is output, the signal pulse width is increased by the pulse width gradient to obtain whether the user has perception. If so, a pulse width perception confirmation signal is output; if not, a pulse width non-perception signal is output; If a pulse width sensing confirmation signal is output, the signal pulse width is marked as the pulse width sensing threshold and the signal pulse width is reduced by the pulse width gradient; if the output amplitude does not sense the signal, the steps of increasing the signal frequency, signal amplitude and signal pulse width are repeatedly executed until the frequency sensing threshold, amplitude sensing threshold and pulse width sensing threshold are found and then the process stops; The coordinate point of the normal frequency curve at S1 is named as the frequency sensing point; the coordinate point of the normal amplitude curve at S1 is named as the amplitude sensing point; the coordinate point of the normal pulse width curve at S1 is named as the pulse width sensing point; The normal frequency curve is vertically moved to the frequency perception threshold based on the frequency perception point to obtain a new function, named the frequency target function; the normal amplitude curve is vertically moved to the amplitude perception threshold based on the amplitude perception point to obtain a new function, named the amplitude target function; the normal pulse width curve is vertically moved to the pulse width perception threshold based on the pulse width perception point to obtain a new function, named the pulse width target function; The frequency objective function, amplitude objective function and pulse width objective function are calculated in S n The values ​​at are integrated into normal parameter values ​​in the format of (target frequency, target amplitude, target pulse width). Each S n Each corresponds to a normal parameter value; Based on the normal parameter value, generating an electrical stimulation signal by a signal generating device to stimulate the muscle to be recovered includes the following sub-steps: According to S n In the order of n from small to large, the signal generating device generates an electrical stimulation signal to stimulate the muscle to be recovered; The signal frequency, signal amplitude and signal pulse width of the electrical stimulation signal are calculated according to S n Set the corresponding normal parameter values.

2. A system for generating an electrical stimulation signal, applicable to the method for generating an electrical stimulation signal according to claim 1, characterized in that: It includes a normal parameter acquisition module, a normal parameter analysis module, a normal parameter calculation module and an electrical stimulation signal generation module; the normal parameter acquisition module, the normal parameter analysis module and the electrical stimulation signal generation module are respectively data-connected with the normal parameter calculation module; The normal parameter acquisition module is used to acquire normal electrical stimulation signals of normal muscles in different states to obtain normal signal parameters; The normal parameter analysis module is used to analyze the normal signal parameters to obtain the normal parameter functions of different parameters of normal muscles; The normal parameter calculation module is used to test the perception threshold of the muscle to be restored, and calculate the normal parameter value of the muscle to be restored based on the perception threshold and the normal parameter function; The electrical stimulation signal generating module is used to generate an electrical stimulation signal through a signal generating device based on a normal parameter value to stimulate the muscle to be restored.

3. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method as claimed in claim 1 are executed.

4. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method as claimed in claim 1 are executed.

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