Self-adaptive electrical stimulation system for lower limb dyskinesia and self-adaptive method thereof

Abstract

The invention discloses a lower limb dyskinesia self-adaptive electrical stimulation system and a self-adaptive method thereof, the system comprises a stimulation host, an electrode device and an attitude sensor assembly, the electrode device and the attitude sensor assembly are both electrically connected with the stimulation host; the electrode device is used for performing stimulation output according to a control instruction of the stimulation host, collecting surface myoelectricity data and feeding back the surface myoelectricity data to the stimulation host; the attitude sensor assembly is used for collecting joint attitude data of thighs and shanks of lower limbs in real time and feeding back the data to the stimulation host; the stimulation host is used for generating a control instruction through a self-adaptive algorithm according to the collected surface electromyogram signals and attitude data and issuing the control instruction to the electrode device. According to the invention, the output of functional electrical stimulation can be adaptively adjusted according to the angle of the knee joint in the walking motion period of a patient, and treatment without time and space constraints can be provided for patients with moderate and mild lower limb dysfunction.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular to an adaptive electrical stimulation system for lower limb motor dysfunction and an adaptive method thereof. Background Art

[0002] According to the Nursing Cooperation in Stroke Rehabilitation Treatment, rehabilitation treatment can enable 90% of stroke patients to resume walking and self-care, and 30% of patients to resume lighter work; without rehabilitation treatment, only 6% can resume walking and self-care, and 5% can resume lighter work. When the human body moves, it is a complex process for the nervous system to coordinate skeletal muscles to control the coordinated movement of each joint. In recent years, great progress has been made in related fields such as life sciences and neurosciences, but it is still difficult to understand the movement control mechanism of the nervous system from the perspective of neural control. Muscle synergy analysis uses multi-channel data acquisition technology to record surface electromyography (sEMG) signals during limb movement, analyze the temporal and spatial characteristics of the movement, and reveal the control strategy of the nervous system movement. Muscle synergy analysis has been applied to the study of upper and lower limb movement control in stroke patients and healthy adults. Studies have shown that the structure of upper limb muscle synergy in stroke patients will change significantly after long-term rehabilitation treatment. These changes show great potential in neurological rehabilitation and evaluation. Normal people have the same degree of activation at different stages of movement, while the number of muscle synergies in patients with functional disorders will decrease accordingly due to nerve damage. Patients with moderate or severe stroke recruit fewer muscle synergies during gait activities than healthy people, while patients with mild stroke recruit a similar number of muscle synergies as healthy adults, but with reduced motor function.

[0003] The stimulation intensity and frequency of the functional electrical stimulator used in traditional rehabilitation therapy are not adjustable. The stimulation system used in clinical rehabilitation therapy is expensive and not very wearable. It cannot stimulate the muscles according to the control mode of healthy people during normal walking. There is no correct control strategy for motor electrical stimulation of the nervous system. Commercial FES rehabilitation equipment is mainly open-loop control. Its control system design is simple, and rehabilitation physicians need to adjust the stimulation parameters based on experience. Wearable electrical stimulators are gradually used in daily walking assistance and rehabilitation training to help patients with lower limb motor dysfunction rebuild motor function and improve their quality of life. The key technology is to effectively stimulate the lower limb muscles, which requires accurate and real-time recognition of human movement intentions and the formulation of reasonable control strategies so that wearable electrical stimulation can highly perceive human movement for functional electrical stimulation (FES) treatment. Wearable devices are also required to be light and comfortable to wear, better integrated with the human body, and accurate angle measurement results. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive electrical stimulation system for lower limb motor dysfunction and an adaptive method thereof, so as to solve the problem that the existing technology is not wearable enough and leads to poor stimulation control effectiveness.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An adaptive electrical stimulation system for lower limb motor dysfunction, comprising a stimulation host, an electrode device and a posture sensor assembly, wherein the electrode device and the posture sensor assembly are both electrically connected to the stimulation host; The electrode device is used to perform stimulation output according to the control instruction of the stimulation host, and collect surface electromyography data and feed it back to the stimulation host; The posture sensor assembly is used to collect the joint posture data of the thigh and calf of the lower limbs in real time and feed it back to the stimulation host; The stimulation host is used to generate control instructions through an adaptive algorithm according to the collected surface electromyography signals and posture data, and send them to the electrode device.

[0006] Furthermore, a TFT screen is provided on the stimulation host, a fixed Velcro is provided on the opposite side of the TFT screen, button switches are installed on the opposite sides of the stimulation host, an SD card slot, a posture sensor communication interface and an electrode interface are provided on the stimulation host, the electrode device is connected to the electrode interface through a connecting line, and the posture sensor assembly is connected to the posture sensor communication interface through a connecting line.

[0007] Furthermore, the electrode device is provided with stimulation electrode contacts and surface electromyography collection contacts, and both the stimulation electrode contacts and the surface electromyography collection contacts are coated with a d-sorbitol conductive coating.

[0008] Furthermore, the posture sensor assembly includes at least two multi-axis posture sensors, and the at least two multi-axis posture sensors are respectively placed at the middle position of the same side of the thigh and the calf.

[0009] Furthermore, a control mainboard is provided inside the stimulation host, and a power management module, a stimulation module and a main control module are provided on the control mainboard. The power management module, the stimulation module and the main control module are all connected by connecting lines. The power management module is used to supply power to the entire stimulation system, the stimulation module is used to control the frequency of the stimulation waveform and the size of the output current, and the main control module is used to control, store, process and feedback information.

[0010] Furthermore, the power management module includes a lithium battery, a lithium battery charging circuit, an LDO circuit and a DC-DC buck-boost circuit, one end of the lithium battery charging circuit is connected to the main control module, the other end of the lithium battery charging circuit is connected to the lithium battery, the lithium battery is connected to the DC-DC buck-boost circuit, the DC-DC buck-boost circuit is connected to the LDO circuit and the stimulation module, and the LDO circuit is connected to the MCU in the main control module.

[0011] Furthermore, the stimulation module includes an electrode detachment detection circuit, a current detection circuit, a constant current circuit and a functional electrical stimulation output circuit. The electrode detachment detection circuit, the current detection circuit and the constant current circuit are all connected to the MCU in the main control module. The constant current circuit is connected to the functional electrical stimulation output circuit. The constant current circuit and the functional electrical stimulation output circuit are connected to the DC-DC buck-boost circuit in the power management module.

[0012] Further, the functional electrical stimulation output circuit includes a DAC, a voltage amplifier, a constant current control, a high-voltage analog switch and a first sampling resistor connected in sequence, and the first sampling resistor is connected to the stimulation positive electrode; The current detection circuit includes a first sampling resistor, a first follower, a third follower, a fourth follower, an inverse proportional circuit, a second operational amplifier and an ADC, wherein two ends of the first sampling resistor are respectively connected to the third follower and the fourth follower, the third follower and the fourth follower are both connected to the second operational amplifier, and the output end of the second operational amplifier is sequentially connected to the inverse proportional circuit, the first follower and the ADC; The electrode detachment detection circuit includes a second follower, a fourth follower, an inverse proportional circuit, a first operational amplifier and an ADC. The second follower is connected to the stimulation negative electrode. The second follower and the fourth follower are both connected to the first operational amplifier. The output end of the first operational amplifier is connected to the inverse proportional circuit, the first follower and the ADC in sequence.

[0013] Furthermore, the stimulation frequency of the stimulation module is 1-100 Hz, and the stimulation current of the stimulation module is 0-50 mA.

[0014] An adaptive method of the adaptive electrical stimulation system for lower limb motor dysfunction, including functional electrical stimulation regulation, data acquisition, data processing and data storage; The functional electrical stimulation regulation includes setting stimulation parameters according to the current tolerance, starting current monitoring, starting electrode detachment detection, starting joint angle recognition, functional electrical stimulation output and functional electrical stimulation parameter adjustment; The data collection includes personal information collection, joint angle identification and storage, surface electromyography collection and rehabilitation treatment effect scoring; The data processing is performed by calculating the average electromyographic value, the integrated electromyographic value and the root mean square value of the surface electromyography of the patient with motor dysfunction, detecting the activation degree of the stimulated muscle and adjusting the stimulation parameters to ensure that no output abnormality occurs; The data storage stores the generated data in the stimulation host and displays the data to the user.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides an adaptive electrical stimulation system for lower limb motor dysfunction. The control command is generated by an adaptive algorithm according to the collected surface electromyographic signal and posture data by the stimulation host, and is sent to the electrode device. The electrode device performs stimulation output according to the control command of the stimulation host, collects surface electromyographic data and feeds it back to the stimulation host, and the posture sensor component collects the joint posture data of the thigh and calf of the lower limb in real time and feeds it back to the stimulation host. The collected data are all processed in real time inside the MCU in the stimulation host, so that the feedback is not delayed. The present invention is easy to wear, small in size, and convenient to use. It has high real-time performance, high safety, closed-loop self-adaptation, and good stimulation effect during the treatment process. Its wearability can provide treatment that is not constrained by time and space for patients with moderate and mild lower limb dysfunction. During the treatment process, the output of functional electrical stimulation can be adaptively adjusted according to the knee joint angle of the patient's walking movement cycle and the adhesion of the electrode to the muscle can be detected to avoid affecting the treatment effect due to the electrode falling off. At the same time, by combining muscle synergy technology and the contraction of the muscle during the movement to set the stimulation parameters, the different muscles of the patient are subjected to joint stimulation treatment, and the output of the stimulation current is detected in real time to avoid the stimulation current being too large or the impedance becoming large to cause harm to the patient. The lower limb motor dysfunction adaptive electrical stimulation system of the present invention does not require the use guidance of a professional doctor and is suitable for wide application and promotion.

[0016] Furthermore, the surfaces of the stimulation electrode contacts and the surface electromyography collection contacts are coated with a d-sorbitol (PPd) conductive coating, which can obtain stable signals with a high signal-to-noise ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the structure of the adaptive electrical stimulation system for lower limb motor dysfunction of the present invention.

[0019] Figure 2This is a schematic diagram of the TFT screen display content of the stimulation host of the present invention.

[0020] Figure 3 It is a circuit block diagram of each module of the stimulation host of the present invention.

[0021] Figure 4 This is a circuit design diagram for generating functional electrical stimulation, detecting current, and detecting electrode detachment of the present invention.

[0022] Figure 5 Schematic diagram of the electrode device of the present invention.

[0023] Wherein: 1-stimulation host, 2-electrode device, 3-gesture sensor assembly, 101-TFT screen, 102-button switch, 103-SD card slot, 104-fixed Velcro, 105-gesture sensor communication interface, 106-electrode interface, 201-stimulation electrode contact, 202-surface electromyography collection contact, 4-first follower, 5-second follower, 6-third follower, 7-fourth follower, 8-first op amp, 9-second op amp, 10-first sampling resistor, 11-second sampling resistor. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0027] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0028] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1The present invention provides an adaptive electrical stimulation system for lower limb motor dysfunction, comprising a stimulation host 1, an electrode device 2 and a posture sensor assembly 3, wherein the electrode device 2 and the posture sensor assembly 3 are both electrically connected to the stimulation host 1. The stimulation host 1 is provided with a TFT screen 101, a key switch 102, an SD card slot 103, a fixed Velcro 104, a posture sensor communication interface 105 and an electrode interface 106, wherein the TFT screen 101 is used to display the main output information and stimulation stage of the stimulation system, the key switch 102 is installed on opposite sides of the stimulation host 1, and is used to control the opening and closing of the stimulation host 1 and to adjust the stimulation parameters according to different patients before stimulation, the SD card slot 103 is used to store patient information, stimulation parameters, exercise parameters and rehabilitation treatment results, and is convenient for comparing the treatment effects, the fixed Velcro 104 is arranged on the side opposite to the TFT screen 101, and is used to fix the stimulation host to the lower limb knee joint, and ensure the stability of the stimulation host during exercise, the posture sensor communication interface 105 is used to receive the posture data of the posture sensor assembly 3, and the electrode interface 106 includes a stimulation electrode interface and a surface electromyography receiving electrode interface. The electrode device 2 is connected to the electrode interface 106 via a connecting line. The electrode device 2 is provided with a stimulation electrode contact 201 and a surface electromyography collection contact 202. The stimulation electrode contact 201 is used for stimulation output, and the surface electromyography collection contact 202 is used for surface electromyography collection. Stimulation and surface electromyography data collection can be performed simultaneously. The posture sensor component 3 is connected to the posture sensor communication interface 105 via a connecting line, and is used to collect the joint posture data of the lower limb thigh and calf in real time and feed it back to the stimulation host 1.

[0031] TFT screen 101 is used for data display, and the specific interface is as follows Figure 2 As shown, the interface mainly includes functional electrical stimulation stage display, stimulation frequency and current size display, electrode sticking status display, treatment time display and treatment result display. The functional electrical stimulation stage display area is used to visualize the movement state and stimulation process. The MCU collects data from the posture sensor component 3 to calculate the knee joint angle to determine the functional electrical stimulation stage. The stimulation frequency and current size display can observe the output of the stimulation parameters in the current stage. If the patient is uncomfortable, the stimulation parameters can be adjusted by the key switch. The patient can also set the threshold in advance. Once the current exceeds the threshold, the stimulation will stop immediately and an alarm will be issued to ensure the safety of the stimulation. The electrode sticking status display intuitively reflects the sticking status of all electrodes. If an electrode falls off, the treatment can be ended in time and which electrode falls off can be quickly sensed. The treatment duration display can be used to control the stimulation time to prevent muscle fatigue caused by stimulation. The treatment effect evaluation result display can be combined with the previously stored data to comprehensively evaluate the current treatment effect and long-term treatment effect after treatment.

[0032] The stimulation host 1 is provided with a control mainboard inside and a conventional Type-c charging port outside. Figure 3 As shown, the control main board includes a power management module, a stimulation module and a main control module. The power management module includes a lithium battery, a lithium battery charging circuit, a battery interface, an LDO circuit and a DC-DC buck-boost circuit. One end of the lithium battery charging circuit is connected to the main control module, and the other end of the lithium battery charging circuit is connected to the lithium battery. The lithium battery is connected to the DC-DC buck-boost circuit, the DC-DC buck-boost circuit is connected to the LDO circuit and the stimulation module, and the LDO circuit is connected to the MCU in the main control module. The voltage of the 12V lithium battery is converted from 12V to ±20V and ±80V through the DC-DC boost circuit for powering the entire stimulation module, and the 12V is converted to 5V through the DC-DC buck circuit, and then the 5V is converted into 3.3V and ±2.5V through the LDO circuit to power the main control module. The stimulation module includes an electrode detachment detection circuit, a current detection circuit, a constant current circuit and a functional electrical stimulation output circuit. The electrode detachment detection circuit, current detection circuit and constant current circuit are all connected to the MCU in the main control module. The constant current circuit is connected to the functional electrical stimulation output circuit. The constant current circuit and the functional electrical stimulation output circuit are connected to the DC-DC buck-boost circuit in the power management module. The functional electrical stimulation output circuit uses a high-voltage analog switch to control the frequency and waveform of the stimulation waveform. The main control module includes MCU, ADC, DAC, key circuit, surface electromyography acquisition interface, posture sensor interface, TFT screen and SD card drive circuit, which are used to control, store, process and feedback information. The power management module, stimulation module and main control module are all connected through flexible connecting lines.

[0033] The main control module uses a high-performance, low-power MCU, which is used to receive input posture data, save joint angle data and feedback impedance and stimulation current, control and monitor stimulation parameters and store and record them. The MCU is also used to process and store the collected surface electromyography signals, extract their features and pass them into the adaptive algorithm for calculation, judge the rehabilitation status, and detect whether the stimulation is abnormal. The Velcro 104 can help fix the device at the knee joint of the lower limb, which is used to fix the entire system.

[0034] like Figure 4As shown, the functional electrical stimulation output circuit of the stimulation module includes a DAC, a voltage amplifier, a constant current control, a high-voltage analog switch and a first sampling resistor 10 connected in sequence, and the first sampling resistor 10 is connected to the positive electrode of the stimulation. The controllable current generated by the DAC is amplified and input into the constant current control to control the magnitude of the output stimulation current, and then a biphasic pulse is generated through the high-voltage analog switch for stimulation. The current detection circuit of the stimulation module includes a first sampling resistor 10, a first follower 4, a third follower 6, a fourth follower 7, an inverse proportional circuit, a second operational amplifier 9 and an ADC. The first sampling resistor 10 is connected in series between the positive electrode of the stimulation and the high-voltage analog switch, and its resistance is much smaller than the load resistance. The two ends of the first sampling resistor 10 are respectively connected to the third follower 6 and the fourth follower 7, which are used for impedance matching with the second sampling resistor 11. The third follower 6 and the fourth follower 7 are both connected to the second operational amplifier 9, and the voltage across the first sampling resistor 10 is input into the second operational amplifier 9. The output end of the second operational amplifier 9 is connected to the inverse proportional circuit and the first follower 4 and transmitted to the ADC to collect the voltage across the first sampling resistor 10. , stimulation current I = / The electrode detachment detection circuit of the stimulation module includes a second follower 5, a fourth follower 7, an inverse proportional circuit, a first operational amplifier 8 and an ADC. The second follower 5 is connected to the stimulation negative electrode. The second follower 5 and the fourth follower 7 are both connected to the first operational amplifier 8. The voltages output by the second follower 5 and the fourth follower 7 are input to the first operational amplifier 8. The output end of the first operational amplifier 8 is connected to the inverse proportional circuit, the first follower 4 and the ADC in sequence. The first operational amplifier 8 performs differential subtraction on the two inputs and transmits them to the inverse proportional circuit, and finally the ADC collects the voltage input by the first follower 4. , load Z = / I, judge whether the electrode is detached according to the impedance of the load.

[0035] The frequency adjustment range of the stimulation module is 1~100Hz, and the stimulation current adjustment range is 0~50mA. The stimulation module can adaptively perform functional electrical stimulation treatment on patients with lower limb dysfunction by detecting the knee joint angle and combining muscle synergy technology, and stimulate the synergistic muscles separately according to the muscle synergy pattern.

[0036] like Figure 5 As shown, the electrode device 2 is provided with a surface electromyography electrode, which is an electrode integrating collection and stimulation, and includes a plurality of surface electromyography electrode contacts 201 and a plurality of stimulation electrode contacts 202. The surfaces of the surface electromyography electrode contacts 201 and the stimulation electrode contacts 202 are both coated with a d-sorbitol (PPd) conductive coating. The outer surface electromyography electrode contacts 201 are mainly used for collecting surface electromyography signals, and the inner circle stimulation electrode contacts 202 are mainly used for outputting functional electrical stimulation.

[0037] The posture sensor assembly 3 includes several multi-axis posture sensors placed in the middle of the same side of the thigh and the calf, and the posture data of the thigh and the calf are obtained through the multi-axis posture sensors. The multi-axis posture sensor includes a nine-axis posture sensor in three directions of accelerometer, gyroscope and magnetometer. After the posture data of the two joints are transmitted to the MCU, the size of the knee joint angle in the current situation is calculated.

[0038] The adaptive method of the adaptive electrical stimulation system for lower limb motor dysfunction of the present invention includes functional electrical stimulation regulation, data acquisition, data processing and data storage.

[0039] The functional electrical stimulation regulation process includes setting stimulation parameters according to the current tolerance level, starting current monitoring, starting electrode detachment detection, starting joint angle recognition, functional electrical stimulation output and functional electrical stimulation parameter adjustment.

[0040] The data collection process includes personal information collection, joint angle recognition and storage, surface electromyography collection and rehabilitation treatment effect scoring. The rehabilitation treatment effect score is obtained by the patient completing the rehabilitation treatment effect scale provided in the stimulation host 1 after the stimulation is completed.

[0041] The data processing process calculates the average EMG value, integrated EMG value and RMS value of the surface EMG of patients with movement dysfunction, detects the activation degree of the stimulated muscles, and adjusts the stimulation parameters to ensure that there is no output abnormality.

[0042] Data collection, data processing and data storage are mainly carried out in the stimulation host 1. Data storage stores the generated data in the SD card inserted in the stimulation host 1, and the intuitive data is directly displayed to the user through the TFT screen 101.

[0043] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive electrical stimulation system for lower limb motor dysfunction, characterized in that: It comprises a stimulation host (1), an electrode device (2) and a posture sensor component (3), wherein the electrode device (2) and the posture sensor component (3) are both electrically connected to the stimulation host (1); The electrode device (2) is used to perform stimulation output according to the control instructions of the stimulation host (1), and collect surface electromyography data and feed it back to the stimulation host (1); The posture sensor component (3) is used to collect the joint posture data of the thigh and calf of the lower limbs in real time and feed it back to the stimulation host (1); The stimulation host (1) is used to generate control instructions through an adaptive algorithm according to the collected surface electromyography signals and posture data, and send the control instructions to the electrode device (2).

2. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 1, characterized in that: The stimulation host (1) is provided with a TFT screen (101), a fixing Velcro (104) is provided on one side opposite to the TFT screen (101), key switches (102) are installed on both sides opposite to the stimulation host (1), an SD card slot (103), a posture sensor communication interface (105) and an electrode interface (106) are provided on the stimulation host (1), the electrode device (2) is connected to the electrode interface (106) via a connecting line, and the posture sensor assembly (3) is connected to the posture sensor communication interface (105) via a connecting line.

3. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 1, characterized in that: The electrode device (2) is provided with a stimulation electrode contact (201) and a surface electromyography collection contact (202), and both the stimulation electrode contact (201) and the surface electromyography collection contact (202) are coated with a d-sorbitol conductive coating.

4. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 1, characterized in that: The posture sensor assembly (3) comprises at least two multi-axis posture sensors, and the at least two multi-axis posture sensors are respectively placed at the middle position of the same side of the thigh and the calf.

5. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 1, characterized in that: The stimulation host (1) is internally provided with a control mainboard, on which a power management module, a stimulation module and a main control module are provided. The power management module, the stimulation module and the main control module are all connected via connecting wires. The power management module is used to supply power to the entire stimulation system. The stimulation module is used to control the frequency of the stimulation waveform and the magnitude of the output current. The main control module is used to control, store, process and feedback information.

6. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 5, characterized in that: The power management module includes a lithium battery, a lithium battery charging circuit, an LDO circuit and a DC-DC buck-boost circuit. One end of the lithium battery charging circuit is connected to the main control module, and the other end of the lithium battery charging circuit is connected to the lithium battery. The lithium battery is connected to the DC-DC buck-boost circuit, the DC-DC buck-boost circuit is connected to the LDO circuit and the stimulation module, and the LDO circuit is connected to the MCU in the main control module.

7. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 5, characterized in that: The stimulation module includes an electrode detachment detection circuit, a current detection circuit, a constant current circuit and a functional electrical stimulation output circuit. The electrode detachment detection circuit, the current detection circuit and the constant current circuit are all connected to the MCU in the main control module. The constant current circuit is connected to the functional electrical stimulation output circuit. The constant current circuit and the functional electrical stimulation output circuit are connected to the DC-DC buck-boost circuit in the power management module.

8. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 7, characterized in that: The functional electrical stimulation output circuit comprises a DAC, a voltage amplifier, a constant current control, a high-voltage analog switch and a first sampling resistor (10) connected in sequence, wherein the first sampling resistor (10) is connected to the stimulation positive electrode; The current detection circuit comprises a first sampling resistor (10), a first follower (4), a third follower (6), a fourth follower (7), an inverse proportional circuit, a second operational amplifier (9) and an ADC, wherein two ends of the first sampling resistor (10) are respectively connected to the third follower (6) and the fourth follower (7), the third follower (6) and the fourth follower (7) are both connected to the second operational amplifier (9), and the output end of the second operational amplifier (9) is sequentially connected to the inverse proportional circuit, the first follower (4) and the ADC; The electrode detachment detection circuit comprises a second follower (5), a fourth follower (7), an inverse proportional circuit, a first operational amplifier (8) and an ADC, wherein the second follower (5) is connected to the stimulation negative electrode, the second follower (5) and the fourth follower (7) are both connected to the first operational amplifier (8), and the output end of the first operational amplifier (8) is connected to the inverse proportional circuit, the first follower (4) and the ADC in sequence.

9. The adaptive electrical stimulation system for lower limb motor dysfunction according to claim 5, characterized in that: The stimulation frequency of the stimulation module is 1-100 Hz, and the stimulation current of the stimulation module is 0-50 mA.

10. An adaptive method for the adaptive electrical stimulation system for lower limb motor dysfunction according to any one of claims 1 to 9, characterized in that: Including functional electrical stimulation regulation, data acquisition, data processing and data storage; The functional electrical stimulation regulation includes setting stimulation parameters according to the current tolerance, starting current monitoring, starting electrode detachment detection, starting joint angle recognition, functional electrical stimulation output and functional electrical stimulation parameter adjustment; The data collection includes personal information collection, joint angle identification and storage, surface electromyography collection and rehabilitation treatment effect scoring; The data processing is performed by calculating the average electromyographic value, the integrated electromyographic value and the root mean square value of the surface electromyography of the patient with motor dysfunction, detecting the activation degree of the stimulated muscle and adjusting the stimulation parameters to ensure that no output abnormality occurs; The data storage stores the generated data in the stimulation host (1) and displays the data to the user.

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