Exercise rehabilitation hydrotherapy regulation and control method based on muscle-bone model and impedance control

Abstract

The invention provides an exercise rehabilitation hydrotherapy regulation and control method based on a muscle-bone model and impedance control, which relates to the technical field of rehabilitation medical treatment, realizes real-time acquisition and processing of user exercise data by constructing an accurate muscle-bone model and an impedance feedback control framework, and comprises the following steps of: identifying a muscle cooperation mode by using a non-negative matrix factorization algorithm; according to the method, joint movement and muscle movement are simulated, output parameters of hydrotherapy equipment are adjusted through an impedance feedback control algorithm to be matched with the intention of a user, personalized rehabilitation treatment is achieved by dynamically adjusting a hydrotherapy scheme, and the scheme relates to multiple aspects of establishment of an upper limb muscle-bone model, electromyographic signal processing, impedance control, hydrotherapy execution and the like. The accuracy, flexibility and adaptability of rehabilitation hydrotherapy are improved, and more effective and personalized rehabilitation experience is provided for users.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation medical technology, and more particularly to a sports rehabilitation hydrotherapy control method based on a musculoskeletal model and impedance control. Background Art

[0002] In today's medical rehabilitation field, sports rehabilitation hydrotherapy is gaining increasing attention as an important rehabilitation method. However, traditional sports rehabilitation hydrotherapy technology faces numerous difficulties. First, it lacks precise control over the patient's movement state. Due to the lack of effective human motion simulation tools, it is difficult to accurately understand the details of the patient's musculoskeletal structure movement in water, such as muscle force and changes in joint flexion and extension angles. This makes rehabilitation training less targeted and the hydrotherapy program unable to be fine-tuned according to the individual's actual movement patterns. Second, personalized rehabilitation is difficult to achieve. Different patients have different physical functions, injury levels, and recovery stages. Traditional hydrotherapy equipment cannot flexibly adjust output parameters in real time based on the patient's fatigue level and rehabilitation progress. Most of them use a unified fixed mode, which is difficult to meet individual needs and can easily lead to overtraining or undertraining, prolonging the rehabilitation period. Furthermore, the dynamic adjustment capability of the hydrotherapy process is weak. The patient's state changes rapidly during rehabilitation. Traditional methods cannot quickly capture the changes in the interaction force between the patient and the hydrotherapy equipment, and cannot optimize the auxiliary force and movement trajectory of the hydrotherapy equipment in real time. This leads to a poor patient experience and may even cause resistance due to lack of adaptation to the equipment, affecting the rehabilitation effect.

[0003] Therefore, the existing technology has problems such as inaccurate regulation of rehabilitation hydrotherapy and insufficient personalization; low efficiency of data collection and processing, inaccurate model prediction, inflexible impedance control, and poor adaptability. Summary of the Invention

[0004] In order to overcome the problems of existing technologies such as inaccurate control, insufficient personalization, low efficiency of data acquisition and processing, inaccurate model prediction, inflexible impedance control, and poor adaptability, the present invention designs a sports rehabilitation hydrotherapy control method based on musculoskeletal model and impedance control, which can effectively solve the above technical problems.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0006] A method for regulating and controlling sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance control, comprising the following steps:

[0007] Construct a basic control framework for sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance feedback control. The control framework includes a musculoskeletal model, impedance feedback control, and hydrotherapy execution. The musculoskeletal model is used to simulate the relationship between human musculoskeletal structure and movement. The impedance feedback control is used to adjust control parameters based on feedback information. The hydrotherapy execution is used to implement hydrotherapy-related operations.

[0008] Collect user motion data in the spa equipment, including electromyographic signals, joint angle signals, and angular velocity signals;

[0009] Constructing a muscle activity level matrix based on the collected electromyographic signals, and identifying muscle coordination patterns using a non-negative matrix factorization algorithm;

[0010] simulating the user's joint movements and muscle activity using the musculoskeletal model in combination with the identified muscle synergy pattern;

[0011] Real-time detection of the interaction force between the user and the hydrotherapy device, and adjustment of the output parameters of the hydrotherapy device through the impedance feedback control algorithm to match the user's joint movement intention and muscle activity level;

[0012] Dynamically adjust the spa program based on the user's rehabilitation progress and feedback to achieve personalized rehabilitation treatment.

[0013] Preferably, the musculoskeletal model is a human upper limb musculoskeletal model, comprising the following steps:

[0014] Establishing the upper limb musculoskeletal model of the human body, including geometric parameters of bones, joints and muscles, and optimizing the parameters of the upper limb musculoskeletal model using a Kalman filter to improve the accuracy of the upper limb musculoskeletal model prediction;

[0015] The upper limb musculoskeletal model is simulated using Opensim software to obtain the output torque of the healthy side and the affected side of the upper limb;

[0016] By using a mirror image method, the output torque of the healthy side is mapped to the affected side to obtain the expected torque of the affected side;

[0017] According to the expected torque on the affected side, the auxiliary torque of the hydrotherapy equipment is calculated to assist the user's rehabilitation training.

[0018] Preferably, the impedance feedback control comprises the following steps:

[0019] grading the user's fatigue level using the characteristics of the electromyographic signal;

[0020] Adjust the auxiliary torque of the hydrotherapy equipment according to the fatigue degree classification results;

[0021] By monitoring the changes in the user's electromyographic signals in real time, the impedance of the hydrotherapy equipment is dynamically adjusted to meet the user's real-time needs.

[0022] Preferably, the hydrotherapy treatment comprises the following steps:

[0023] Compare the expected value of the joint angle tracking with the actual value of the joint angle to obtain the corrected value of the joint angle;

[0024] Calculating an actual reference joint angle based on the corrected value of the joint angle;

[0025] The actual reference joint angle is converted into the position of the end effector of the hydrotherapy device by using a kinematics forward solution algorithm;

[0026] The calculated position of the end effector of the hydrotherapy device is input into the position controller to realize adaptive control of the hydrotherapy device.

[0027] Preferably, the step of collecting user motion data further includes:

[0028] Using a wireless system device to collect the electromyographic signals of multiple major muscles of the user in a specific stage;

[0029] Performing bandpass filtering on the collected multi-channel electromyographic signals within a specific frequency range to remove noise;

[0030] The filtered electromyographic signal is rectified, the envelope of the electromyographic signal is extracted, and the envelope is normalized to obtain a standardized muscle activity level matrix.

[0031] Preferably, identifying the muscle synergy pattern by using a non-negative matrix factorization algorithm comprises the following steps:

[0032] Decomposing the muscle activity level matrix using a non-negative matrix factorization algorithm to obtain a muscle synergy matrix and an activation coefficient matrix;

[0033] Iteratively updating the values ​​of the muscle synergy matrix and the activation coefficient matrix by using a gradient descent algorithm until a preset number of iterations is reached or the loss function converges, thereby completing non-negative matrix decomposition;

[0034] reconstructing an original muscle activity level matrix using the muscle synergy matrix and the activation coefficient matrix, and obtaining a variability ratio by comparing the original muscle activity level matrix with a reconstructed matrix determined according to the decomposed muscle activity level matrix, thereby obtaining the number of muscle synergists;

[0035] A fuzzy rule algorithm is used to analyze the corresponding knee joint motion information according to the number of the muscle synergists, and to update the relevant parameters in the upper limb musculoskeletal model.

[0036] An electronic device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the above-mentioned method for regulating and controlling sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance control are implemented.

[0037] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for regulating and controlling sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance control.

[0038] Compared with the prior art, the present invention has the following beneficial effects: by constructing a regulatory framework based on the musculoskeletal model, the present invention can accurately simulate the relationship between the human musculoskeletal structure and movement, realize the accurate collection and analysis of user motion data, combine with impedance feedback control, dynamically adjust the output parameters of the hydrotherapy equipment according to the user's real-time feedback, make the hydrotherapy plan more personalized, and improve the pertinence and effectiveness of rehabilitation treatment; use wireless system equipment for electromyographic signal acquisition, improve the convenience and efficiency of data acquisition; through bandpass filtering and signal rectification processing, effectively remove noise and extract more accurate electromyographic signal features, providing a data basis for muscle activity level analysis; use Kalman filter to optimize the upper limb musculoskeletal model parameters, combine with Opensim software for simulation, improve the accuracy of model prediction; use the mirror method to map the output torque of the healthy side to the affected side, obtain a more accurate expected torque of the affected side, and provide a reliable basis for the calculation of the auxiliary torque of the hydrotherapy equipment; also by real-time monitoring of the user's electromyographic signal changes and dynamically adjusting the impedance of the hydrotherapy equipment, the adaptability and user experience of the hydrotherapy equipment are improved, making rehabilitation training more natural and comfortable; identify muscle coordination patterns through the non-negative matrix decomposition algorithm, and analyze the corresponding motion information in combination with the fuzzy rule algorithm, thereby achieving more accurate rehabilitation training guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the implementation methods or the description of the prior art. Obviously, the drawings described below are merely exemplary. For ordinary technicians in this field, other implementation drawings can be derived based on the provided drawings without any creative work.

[0040] Figure 1 A step-by-step diagram of a sports rehabilitation hydrotherapy control method based on a musculoskeletal model and impedance control; DETAILED DESCRIPTION

[0041] The accompanying drawings are for illustrative purposes only and are not to be construed as limiting this patent;

[0042] In order to better illustrate this embodiment, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size;

[0043] It is understandable to those skilled in the art that some well-known structures and descriptions thereof may be omitted in the drawings.

[0044] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0045] Example

[0046] A method for regulating sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control, such as Figure 1 As shown, the following steps are included:

[0047] Construct a basic control framework for sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance feedback control. The control framework includes a musculoskeletal model, impedance feedback control, and hydrotherapy execution. The musculoskeletal model is used to simulate the relationship between human musculoskeletal structure and movement. The impedance feedback control is used to adjust control parameters based on feedback information. The hydrotherapy execution is used to implement hydrotherapy-related operations.

[0048] Collect user motion data in the spa equipment, including electromyographic signals, joint angle signals, angular velocity signals, and plantar pressure data;

[0049] Constructing a muscle activity level matrix based on the collected electromyographic signals, and identifying muscle coordination patterns using a non-negative matrix factorization algorithm;

[0050] simulating the user's joint movements and muscle activity using the musculoskeletal model in combination with the identified muscle synergy pattern;

[0051] Real-time detection of the interaction force between the user and the hydrotherapy device, and adjustment of the output parameters of the hydrotherapy device through the impedance feedback control algorithm to match the user's joint movement intention and muscle activity level;

[0052] Dynamically adjust the spa program based on the user's rehabilitation progress and feedback to achieve personalized rehabilitation treatment.

[0053] The musculoskeletal model is specifically a human upper limb musculoskeletal model, comprising the following steps:

[0054] Establishing the upper limb musculoskeletal model of the human body, including geometric parameters of bones, joints and muscles, and optimizing the parameters of the upper limb musculoskeletal model using a Kalman filter to improve the accuracy of the upper limb musculoskeletal model prediction;

[0055] The upper limb musculoskeletal model is simulated using Opensim software to obtain the output torque of the healthy side and the affected side of the upper limb;

[0056] By using a mirror image method, the output torque of the healthy side is mapped to the affected side to obtain the expected torque of the affected side;

[0057] According to the expected torque on the affected side, the auxiliary torque of the hydrotherapy equipment is calculated to assist the user's rehabilitation training.

[0058] The impedance feedback control comprises the following steps:

[0059] Using the characteristics of the electromyographic signal, such as amplitude, frequency and time domain characteristics, to grade the user's fatigue level;

[0060] Adjust the auxiliary torque of the hydrotherapy equipment according to the fatigue degree classification results;

[0061] By monitoring the changes in the user's electromyographic signals in real time, the impedance of the hydrotherapy equipment is dynamically adjusted to meet the user's real-time needs.

[0062] The hydrotherapy treatment includes the following steps:

[0063] Compare the expected value of the joint angle tracking with the actual value of the joint angle to obtain the corrected value of the joint angle;

[0064] Calculating an actual reference joint angle based on the corrected value of the joint angle;

[0065] The actual reference joint angle is converted into the position of the end effector of the hydrotherapy device by using a kinematics forward solution algorithm;

[0066] The calculated position of the end effector of the hydrotherapy device is input into the position controller to realize adaptive control of the hydrotherapy device.

[0067] The step of collecting user motion data also includes:

[0068] Using a wireless system device to collect the electromyographic signals of multiple major muscles of the user in a specific stage;

[0069] Performing bandpass filtering on the collected multi-channel electromyographic signals within a specific frequency range to remove noise;

[0070] The filtered electromyographic signal is rectified, the envelope of the electromyographic signal is extracted, and the envelope is normalized to obtain a standardized muscle activity level matrix.

[0071] The method of identifying muscle synergy patterns by using a non-negative matrix factorization algorithm comprises the following steps:

[0072] The muscle activity level matrix is ​​decomposed using a non-negative matrix factorization algorithm to obtain a muscle synergy matrix (W) and an activation coefficient matrix (H);

[0073] Both matrices are non-negative, that is, all elements are greater than or equal to zero;

[0074] The non-negative matrix factorization algorithm can find a non-negative matrix W and a non-negative matrix H such that V ≈ WH, where V is the original muscle activity level matrix.

[0075] Iteratively updating the values ​​of the muscle synergy matrix and the activation coefficient matrix by using a gradient descent algorithm until a preset number of iterations is reached or the loss function converges, thereby completing non-negative matrix decomposition;

[0076] reconstructing an original muscle activity level matrix using the muscle synergy matrix and the activation coefficient matrix, and obtaining a variability ratio by comparing the original muscle activity level matrix with a reconstructed matrix determined according to the decomposed muscle activity level matrix, thereby obtaining the number of muscle synergists;

[0077] A fuzzy rule algorithm is used to analyze the corresponding knee joint motion information according to the number of the muscle synergists, and to update the relevant parameters in the musculoskeletal model.

[0078] The real-time detection of the interaction force between the user and the hydrotherapy device and the adjustment of the output parameters of the hydrotherapy device further includes:

[0079] The ultrasonic osteotome dynamic impedance feedback method is adopted to reduce the interference of the original sampling signal through the resistor-capacitor circuit voltage division and Hall sensor sampling.

[0080] An electronic device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the above-mentioned method for regulating and controlling sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance control are implemented.

[0081] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for regulating and controlling sports rehabilitation hydrotherapy based on a musculoskeletal model and impedance control.

[0082] In the specific implementation, a basic control framework for sports rehabilitation and hydrotherapy was constructed, which integrates musculoskeletal model, impedance feedback control and hydrotherapy execution. Among them, the musculoskeletal model focuses on the upper limbs of the human body. Medical personnel collect the geometric parameters such as the shape, length, range of motion of the joints, and the starting and ending points, volume, etc. of each bone of the user's upper limbs, and enter this information into the model system. Subsequently, the Kalman filter is used to optimize the model parameters. At the same time, the constructed musculoskeletal model of the upper limb is simulated with the help of Opensim software, and the output torque data of the healthy and affected sides of the upper limbs in different motion modes are obtained respectively. Then, the output torque of the healthy side is accurately matched to the affected side through mirror mapping, and the expected torque of the affected side is obtained, which provides auxiliary torque for subsequent hydrotherapy equipment.

[0083] Every time a user steps into the spa room and starts rehabilitation training, professionals will activate the wireless system equipment to collect electromyographic signals from multiple key muscles in the arm, such as the biceps, triceps, deltoids, etc. The wireless system equipment can simultaneously capture multi-channel electromyographic signals and perform bandpass filtering on the collected signals within a specific frequency range to effectively remove environmental noise and interference from the muscles' own electrical activity. After filtering, the electromyographic signals are further rectified to extract the signal envelope. Finally, through normalization, they are converted into a standardized muscle activity level matrix to show the real-time activity status of the user's arm muscles. The high-precision sensors built into the spa equipment will also synchronously record the angle changes and angular velocity of the user's arm joints to collect their motion data in all directions.

[0084] Based on the muscle activity level matrix constructed from the collected and processed electromyographic signals, a non-negative matrix decomposition algorithm is used to deeply explore the hidden information therein. The algorithm decomposes the matrix into a muscle synergy matrix and an activation coefficient matrix. By continuously applying the gradient descent algorithm, the values ​​of these two matrices are iteratively updated until the preset convergence conditions are met, completing the complex non-negative matrix decomposition task. After the decomposition is completed, the obtained muscle synergy matrix and activation coefficient matrix are used to reconstruct the original muscle activity level matrix, and the reconstructed matrix is ​​carefully compared with the original matrix. The variability ratio is calculated, and the number of muscle synergists is accurately inferred. With the help of a fuzzy rule algorithm, the corresponding knee joint motion information is analyzed based on the information contained in the number of muscle synergists.

[0085] When the user is in the spa equipment and performs arm rehabilitation exercises according to the rehabilitation training plan, the system will detect the interaction force between her and the spa equipment in real time and accurately, and scientifically grade the user's fatigue level based on the characteristics of the electromyographic signal. When it is determined that the user has a certain degree of fatigue, such as a decrease in muscle electrical activity and a flattening of signal fluctuations, the auxiliary torque of the spa equipment will be adjusted appropriately according to the preset rules to ensure that she can continue to train efficiently without excessive fatigue. On the other hand, the system always monitors the changes in electromyographic signals. When a more obvious fluctuation in the signal is captured, it means that the user's arm movement state has changed. Whether the movement speed is accelerated, the movement amplitude is increased, or the movement direction is adjusted, the system will quickly optimize the impedance parameters of the spa equipment in real time based on the built-in dynamic adjustment strategy so that it can adapt to the user's current movement rhythm.

[0086] The intelligent control system in the spa equipment first carefully compares the pre-set joint angle tracking expected value with the actual joint angle value collected in real time, calculates the deviation between the two, that is, the correction value of the joint angle, and converts it into the position information of the end effector of the spa equipment through the kinematic forward solution algorithm based on the correction value. Finally, the calculated end effector position instruction is input into the position controller to realize the adaptive and intelligent control of the spa equipment on the user's arm rehabilitation movement, and fully assist her in performing various rehabilitation movements such as arm flexion and extension, rotation, abduction and extension, etc., to help her gradually recover her arm function.

[0087] The rehabilitation treatment team conducts a comprehensive and in-depth assessment of the user's rehabilitation progress every week, measuring objective indicators such as the expansion of the user's arm joint range of motion and the degree of muscle strength recovery through professional rehabilitation assessment tools; on the other hand, they listen to the user's own subjective feelings during the rehabilitation training process, including changes in pain levels, comfort experience during exercise, and self-perception of training difficulty. Combining these objective data with subjective feedback, rehabilitation experts dynamically adjust the hydrotherapy program based on rich clinical experience and established adjustment principles. For example, if it is found that the user has made significant progress in a certain type of rehabilitation movement, then the difficulty of the movement will be appropriately increased or the training time will be extended in the next stage of training; if the user reports that a certain training session makes her feel excessive pain or discomfort, the treatment team will immediately optimize and adjust the auxiliary force, movement trajectory and other parameters of the hydrotherapy equipment to ensure that the entire rehabilitation process is always closely aligned with the user's physical recovery condition and customize a personalized rehabilitation treatment path for her.

[0088] The same or similar reference numerals correspond to the same or similar components;

[0089] The terms used in the drawings to describe positional relationships are for illustrative purposes only and should not be construed as limiting this patent;

[0090] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for regulating sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control, characterized in that: The following steps are involved: Construct a basic control framework for sports rehabilitation hydrotherapy based on musculoskeletal model and impedance feedback control, the control framework includes musculoskeletal model, impedance feedback control and hydrotherapy execution, wherein the musculoskeletal model is used to simulate the relationship between human musculoskeletal structure and movement, the impedance feedback control is used to adjust control parameters according to feedback information, and the hydrotherapy execution is used to implement hydrotherapy related operations; Collect the user's motion data in the hydrotherapy equipment, including electromyographic signals, joint angle signals and angular velocity signals; Constructing a muscle activity level matrix based on the collected electromyographic signals, and identifying muscle coordination patterns through a non-negative matrix factorization algorithm; Simulating the joint movement and muscle activity of the user by using the musculoskeletal model in combination with the identified muscle coordination pattern; Real-time detection of the interaction force between the user and the hydrotherapy device, and adjustment of the output parameters of the hydrotherapy device through impedance feedback control algorithm to match the user's joint movement intention and muscle activity level; Dynamically adjust the spa program based on the user's rehabilitation progress and feedback to achieve personalized rehabilitation treatment.

2. The method for regulating and controlling sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control according to claim 1, characterized in that: The musculoskeletal model is specifically a human upper limb musculoskeletal model, comprising the following steps: Establishing the upper limb musculoskeletal model of the human body, including geometric parameters of bones, joints and muscles, and optimizing the parameters of the upper limb musculoskeletal model using a Kalman filter to improve the accuracy of the prediction of the upper limb musculoskeletal model; The upper limb musculoskeletal model is simulated using Opensim software to obtain the output torque of the healthy side and the affected side of the upper limb; By using a mirror method, the output torque of the healthy side is mapped to the affected side to obtain the desired torque of the affected side; According to the expected torque of the affected side, the auxiliary torque of the hydrotherapy equipment is calculated to assist the user's rehabilitation training.

3. The method for regulating and controlling sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control according to claim 1, characterized in that: The impedance feedback control comprises the following steps: Using the characteristics of the electromyographic signal, grading the user's fatigue level; adjusting the auxiliary torque of the hydrotherapy device according to the fatigue degree classification result; By real-time monitoring of the changes in the user's electromyographic signals, the impedance of the hydrotherapy equipment is dynamically adjusted to meet the user's real-time needs.

4. The method for regulating and controlling sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control according to claim 1, characterized in that: The hydrotherapy treatment comprises the following steps: Compare the expected value of the joint angle tracking with the actual value of the joint angle to obtain a corrected value of the joint angle; Calculating an actual reference joint angle according to the correction value of the joint angle; The actual reference joint angle is converted into the position of the end effector of the hydrotherapy device by a kinematics forward solution algorithm; The calculated position of the end effector of the hydrotherapy device is input into the position controller to realize the adaptive control of the hydrotherapy device.

5. The method for regulating and controlling sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control according to claim 1, characterized in that: The step of collecting user motion data also includes: Using a wireless system device to collect the electromyographic signals of a plurality of major muscles of the user at a specific stage; Performing bandpass filtering on the collected multi-channel electromyographic signals within a specific frequency range to remove noise; The filtered electromyographic signal is rectified, the envelope of the electromyographic signal is extracted, and the envelope is normalized to obtain a standardized muscle activity level matrix.

6. The method for regulating and controlling sports rehabilitation hydrotherapy based on musculoskeletal model and impedance control according to claim 1, characterized in that: The method of identifying muscle synergy patterns by non-negative matrix decomposition algorithm comprises the following steps: Decomposing the muscle activity level matrix using a non-negative matrix factorization algorithm to obtain a muscle synergy matrix and an activation coefficient matrix; Iteratively updating the values ​​of the muscle synergy matrix and the activation coefficient matrix by using a gradient descent algorithm until a preset number of iterations is reached or the loss function converges, thereby completing non-negative matrix decomposition; Reconstructing an original muscle activity level matrix using the muscle synergy matrix and the activation coefficient matrix, obtaining a variability ratio by comparing the original muscle activity level matrix with a reconstructed matrix determined according to the decomposed muscle activity level matrix, and then obtaining the number of muscle synergists; A fuzzy rule algorithm is used to analyze the corresponding knee joint motion information according to the number of the muscle synergists, and to update the relevant parameters in the upper limb musculoskeletal model.

7. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of a sports rehabilitation hydrotherapy regulation method based on a musculoskeletal model and impedance control as described in any one of claims 5 to 8.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a sports rehabilitation hydrotherapy regulation method based on a musculoskeletal model and impedance control as described in any one of claims 5 to 8 are implemented.

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