Limb rehabilitation training system and method

Abstract

The invention relates to the technical field of rehabilitation electrical stimulation, in particular to a limb rehabilitation training system and method. The application patch is applied to muscles of a joint to be recovered of a user, and the application patch is used for releasing an electrical stimulation signal to the muscles and receiving a fed-back first electromyographic signal; the control terminal is used for controlling each application sheet to release an electrical stimulation signal to the applied muscle, and obtaining the excitement difference among the plurality of muscles according to a first electromyographic signal fed back by the muscle; performing differential electrical stimulation on the plurality of muscles according to the excitement degree difference until the excitement degree of each muscle is greater than a preset value, and outputting a drafting instruction; and controlling a drafting device to perform drafting activity on the to-be-recovered joint according to the drafting instruction. According to the rehabilitation training mode, muscle groups of the to-be-rehabilitated joints reach an excitement state suitable for dynamic traction before traction, the follow-up implementation of dynamic rehabilitation training with larger amplitude and higher strength is facilitated, and the rehabilitation training effect of limbs is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation electrical stimulation, and particularly relates to a training system and method for limb rehabilitation. Background Art

[0002] With the aggravation of population aging and the increase of sports injuries and other situations, the number of patients with joint diseases and injuries shows an upward trend. Limb rehabilitation training is of great significance for restoring joint function and improving the quality of life of patients. However, traditional limb rehabilitation training methods mainly rely on the techniques of rehabilitation therapists or simple instrument assistance, and there are many limitations. For example, during the rehabilitation training process, some muscles may have insufficient excitability due to injury, fatigue or abnormal nerve control, making it difficult to evenly activate all relevant muscle groups, which affects the overall rehabilitation training effect of the limbs. Summary of the Invention

[0003] In order to solve the technical problem of how to improve the effect of limb rehabilitation training, the purpose of the present invention is to provide a training system and method for limb rehabilitation, and the specific technical solutions adopted are as follows: In a first aspect, an embodiment of the present invention provides a training system for limb rehabilitation, and the system includes: Multiple patch electrodes, each patch electrode is used to be attached to the muscles of the joint to be rehabilitated of the user. The patch electrode is used to release an electrical stimulation signal to the muscle and receive the feedback first electromyogram signal; A control terminal, which is connected to multiple patch electrodes. The control terminal is used to control each patch electrode to release an electrical stimulation signal to the attached muscle in the static mode, and obtain the excitability difference between multiple muscles according to the first electromyogram signal fed back by the muscles; perform differential electrical stimulation on multiple muscles according to the excitability difference until the excitability of each muscle is greater than a preset value, and then output a stretching instruction; A stretching device, which is connected to the control terminal. The stretching device is used to perform a stretching activity on the joint to be rehabilitated according to the stretching instruction, so as to perform rehabilitation training in the dynamic mode on the joint to be rehabilitated.

[0004] In an optional embodiment, the patch electrode includes: A flexible substrate; An electrode sheet, which is attached to the flexible substrate. The electrode sheet is connected to the control terminal, and the electrode sheet is used to release an electrical stimulation signal to the attached muscle; An electromyogram sensor, which is attached to the flexible substrate. The electromyogram sensor is connected to the control terminal, and the electromyogram sensor is used to receive the first electromyogram signal fed back by the muscle; A temperature sensor, which is attached to the flexible substrate. The temperature sensor is connected to the control terminal, and the temperature sensor is used to collect the temperature value of the attached muscle; The first hot compress patch is disposed in a fitting manner with the flexible substrate. The first hot compress patch is connected to the control terminal and is used for performing hot compress on the muscle to which it is applied. The control terminal is further used for controlling the first hot compress patch to perform hot compress on the muscle and controlling the heating timing of the first hot compress patch according to the temperature value collected by the temperature sensor.

[0005] In an optional embodiment, the stretching device includes: The first fixing component is used for fixing the limb on one side of the joint to be rehabilitated. The second fixing component is hinged to the first fixing component and is used for fixing the limb on the other side of the joint to be rehabilitated. The joystick is connected to the control terminal and is used for outputting a manipulation signal under the manipulation of the user, so that the control terminal outputs a stretching instruction according to the manipulation signal. The driving component is installed on the first fixing component and / or the second fixing component. The driving component is connected to the control terminal and is used for adjusting the hinged angle between the first fixing component and the second fixing component according to the stretching instruction.

[0006] In an optional embodiment, the driving component is a servo motor or an electric control telescopic rod; the control terminal is further used for outputting an anti-resistance control signal according to the second electromyographic signal fed back by the muscle during the stretching activity of the joint to be rehabilitated; the servo motor or the electric control telescopic rod is further used for performing anti-resistance training on the joint to be rehabilitated according to the anti-resistance control signal.

[0007] In an optional embodiment, the system further includes: The anti-resistance measuring device is disposed on one side of the stretching device and is connected to the control terminal. The anti-resistance measuring device is used for measuring the resistance torque of the joint to be rehabilitated during the rehabilitation training in the dynamic mode.

[0008] In an optional embodiment, the system further includes: The display terminal is connected to the control terminal. The display terminal is used for displaying the application position corresponding to each patch according to the patch application instruction information output by the control terminal in the static mode.

[0009] In a second aspect, an embodiment of the present invention further provides a training method for limb rehabilitation, which is applied to the training system according to any one of the first aspects. The method includes: When multiple patches are correspondingly applied to the muscles of the joint to be rehabilitated of the user in the static mode, controlling each patch to release an electrical stimulation signal to the applied muscle and receiving the fed-back first electromyographic signal; Obtaining the excitability difference between multiple muscles according to the first electromyographic signal fed back by the muscles; Differentially electrically stimulate multiple muscles according to the difference in excitability until the excitability of each muscle is greater than a preset value, and then output a stretching instruction; Control a stretching device to perform a stretching activity on a joint to be rehabilitated according to the stretching instruction, so as to perform rehabilitation training in a dynamic mode on the joint to be rehabilitated.

[0010] In an optional embodiment, the pasting areas of multiple patch electrodes are different; before the multiple patch electrodes are correspondingly pasted on the muscles of the joint to be rehabilitated by a user in a static mode, the method further includes: Output display information of the corresponding pasting position of each patch electrode according to the position information of the joint to be rehabilitated and the rehabilitation training task, so that the user can paste the patch electrodes with different pasting areas onto the corresponding muscles according to the display information.

[0011] In an optional embodiment, controlling each patch electrode to release an electrical stimulation signal to the pasted muscle and receiving the first myoelectric signal fed back includes Obtain an initial electrical stimulation curve of the corresponding patch electrode according to the pasting area and pasting position of each patch electrode, where the initial electrical stimulation curve is a curve of electrical stimulation intensity changing with electrical stimulation time; Release electrical stimulation signals to the pasted muscles in a pulse manner according to the initial electrical stimulation curves of each patch electrode; After the electrical stimulation time reaches a preset time threshold, receive the first myoelectric signal during the inter-pulse time period.

[0012] In an optional embodiment, obtaining the excitability difference between multiple muscles according to the first myoelectric signal fed back by the muscles includes: Obtain myoelectric curves of each position according to the first myoelectric signals fed back by different positions of each muscle, where the myoelectric curve is a curve of the voltage value of the first myoelectric signal changing with the feedback time; Obtain the muscle excitability value of each position according to the fluctuation characteristics represented by the myoelectric curves of each position; Perform weighted calculation and normalization processing on the muscle excitability values of all positions of each muscle to obtain the muscle excitability of each muscle; Obtain the excitability difference between multiple muscles according to the difference results between the excitabilities of all muscles.

[0013] In an optional embodiment, differentially electrically stimulating multiple muscles according to the excitability difference includes: Obtain the excitability difference of each muscle according to the difference between the muscle excitability of each muscle and the reference excitability; Obtain a corresponding electrical stimulation correction coefficient according to the position of each muscle; According to the excitability difference of each muscle and the electrical stimulation correction coefficient, a task curve for differential electrical stimulation of each muscle is obtained, where the task curve is a curve of the voltage value for continuous electrical stimulation of the muscle varying with the stimulation time; Release electrical stimulation signals continuously according to the task curve of each muscle.

[0014] The present invention has the following beneficial effects: The limb rehabilitation training system of the present invention includes multiple patch electrodes, a control terminal, and a stretching device. Each patch electrode is used to be attached to the muscle of the joint to be rehabilitated of the user. The patch electrode is used to release electrical stimulation signals to the muscle and receive the feedback first myoelectric signal; the control terminal is used to control each patch electrode to release electrical stimulation signals to the attached muscle in the static mode, and obtain the excitability difference between multiple muscles according to the first myoelectric signal fed back by the muscle; perform differential electrical stimulation on multiple muscles according to the excitability difference until the excitability of each muscle is greater than a preset value, then output a stretching instruction; control the stretching device to perform stretching activities on the joint to be rehabilitated according to the stretching instruction, so as to perform rehabilitation training in the dynamic mode on the joint to be rehabilitated. This kind of rehabilitation training method can make the muscle group of the joint to be rehabilitated reach an excited state suitable for dynamic stretching before stretching, thus avoiding muscle spasm caused by direct stretching or insufficient excitability, effectively reducing stretching pain, making the subsequent dynamic stretching safer and more comfortable, facilitating the subsequent implementation of larger amplitude and higher intensity dynamic rehabilitation training, and thus improving the rehabilitation training effect of the limb. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0016] Figure 1 It is a schematic structural diagram of a limb rehabilitation training system provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a patch electrode provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the position distribution of the patch electrode for performing multi-point electrical stimulation provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the use during knee joint rehabilitation training provided by an embodiment of the present invention; Figure 5 It is a flowchart of a limb rehabilitation training method provided by an embodiment of the present invention.

[0017] Description of the reference numerals: 1 - matrix layer, 2 - hot compress layer, 3 - electrode layer, 4 - cable, 5 - patch, 6 - first fixing assembly, 7 - seat, 8 - base, 9 - first fixing strap, 10 - second fixing assembly, 11 - support rod, 12 - second fixing strap, 13 - joystick, 14 - hinge rotating shaft, 15 - display terminal, 16 - impedance measuring device, 17 - column. Detailed implementation manners

[0018] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following combines the accompanying drawings and preferred embodiments to detail the specific implementation manners, structures, features and effects of a limb rehabilitation training system and method proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0020] Traditional limb rehabilitation training methods mainly rely on the experience and techniques of rehabilitation therapists for one-on-one training. This method consumes a large amount of human and time costs, and the treatment effect depends to a large extent on the professional level and personal experience of the therapist, making it difficult to achieve standardized and precise treatment. Existing rehabilitation training equipment often lacks accurate assessment and targeted stimulation of muscle states. During the rehabilitation training process, the differences in the excitability of each muscle around the joint are not fully considered, resulting in some muscles not being effectively exercised and affecting the overall rehabilitation effect. Moreover, the connection between each stage during the training process lacks a scientific basis, and there is no organic integration between static rehabilitation and dynamic rehabilitation, further reducing the rehabilitation training effect. The technical solutions of the embodiments of the present invention can be applied to the rehabilitation training of positions such as the elbow joint, knee joint, and wrist joint. Below, the embodiments of the present invention will take knee joint rehabilitation training as an example to specifically elaborate on how to solve the above problems to improve the rehabilitation training effect of the limb.

[0021] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a limb rehabilitation training system provided by an embodiment of the present invention. The training system includes multiple patches, a control terminal, and a stretching device. The multiple patches are all connected to the control terminal, and the control terminal is connected to the stretching device.

[0022] Each patch is used to be applied to the muscles of the joint to be rehabilitated of the user. The patch is a planar structure made of a flexible material to ensure that it can closely fit the muscle surface of different parts of the human body, and at the same time has good comfort and good electrical conductivity. The patch is used to release an electrical stimulation signal to the muscle and receive the first myoelectric signal fed back. Taking the rehabilitation training of the knee joint as an example, the activities of this joint mainly require the contraction and relaxation of the rectus femoris, vastus medialis, vastus intermedius and vastus lateralis (i.e., the quadriceps femoris group). Therefore, it is necessary to determine whether these muscles that stretch the knee joint have good excitability, apply each patch to the corresponding muscle, and perform electrical stimulation and collect the first myoelectric signal.

[0023] It should be noted that the number of patches configured can be determined based on the actual number of muscles that can be electrically stimulated. For example, during knee joint rehabilitation, since the vastus intermedius is covered by the rectus femoris and it is difficult to electrically stimulate it through conventional methods, the corresponding patches can be applied to the rectus femoris, vastus medialis and vastus lateralis to perform electrical stimulation and collect the first myoelectric signal. The shape of each patch can be set based on the structure of the muscle to be applied. Please refer to Figure 3 , Figure 3 which shows the external shape structure of the patch. For the electrical stimulation applied to the rectus femoris, the patch can be set as a long strip structure to facilitate multi-point electrical stimulation and collection of the first myoelectric signal. Since there are differences in size and position among the muscles of the joint to be rehabilitated, in order to perform targeted electrical stimulation and collection of the first myoelectric signal, each patch can be numbered, and labels such as Patch 1, Patch 2, Patch 3, etc. up to Patch n can be marked on the patch. Through the marked labels, it is convenient for the user to apply each patch to the corresponding muscle during the rehabilitation training, improving the accuracy of electrical stimulation and collection of the first myoelectric signal.

[0024] The control terminal can be an embedded controller or an industrial computer (IPC, Industrial Personal Computer). Through the control terminal, the training system can be configured to run in a static mode or a dynamic mode. In the static mode, the control terminal is used to control each patch to release an electrical stimulation signal to the applied muscle and obtain the excitability difference between multiple muscles according to the first myoelectric signal fed back by the muscle; when there is a large difference in the excitability of each muscle, if stretching rehabilitation is directly implemented, it may cause the unexcited muscles to not produce stress contraction. Therefore, it is necessary to continue to perform differential electrical stimulation on multiple muscles according to the excitability difference. When the excitability of each muscle is greater than the preset value, it means that each muscle meets the stretching conditions for implementing dynamic rehabilitation, and then a stretching instruction is output.

[0025] In the dynamic mode, the stretching device performs corresponding actions under the control of the control terminal, specifically including performing stretching activities on the joint to be rehabilitated according to the stretching instruction, so as to perform rehabilitation training in the dynamic mode on the joint to be rehabilitated. The stretching device can be a device that stretches the limb of the joint to be rehabilitated. The stretching device can perform dynamic rehabilitation training on the limb of the joint to be rehabilitated, which can promote the recovery of muscle and joint flexibility and blood circulation, and improve muscle strength imbalance.

[0026] Exemplarily, the patch includes a flexible substrate, electrode patches, electromyography sensors, temperature sensors, and a first hot compress patch. The flexible substrate can be made of silicone or hydrogel, and the overall structure is a planar sheet to ensure the stability of the functions of electrical stimulation, electromyography acquisition, and hot compress. The electrode patches are attached to the flexible substrate and connected to the control terminal. The electrode patches are used to release electrical stimulation signals to the muscles to which they are applied; the electromyography sensors are attached to the flexible substrate and connected to the control terminal. The electromyography sensors are used to receive the first electromyography signals fed back by the muscles; the temperature sensors are attached to the flexible substrate and connected to the control terminal. The temperature sensors are used to collect the temperature values of the muscles to which they are applied; the first hot compress patch is attached to the flexible substrate and connected to the control terminal. The first hot compress patch is used to perform hot compress on the muscles to which it is applied; the control terminal is further used to control the first hot compress patch to perform hot compress on the muscles and control the heating timing of the first hot compress patch according to the temperature values collected by the temperature sensors. It can be understood that when preparing the patch, the electrode patches, electromyography sensors, temperature sensors, and the first hot compress patch can all be pasted on the bottom of the flexible substrate, and each component is arranged in the corresponding area as long as there is no position interference between the components. When the area of the patch is relatively large, both the electromyography sensors and the temperature sensors can be arranged in multiple numbers, and the data is collected and then fused and calculated to improve the accuracy of the collection.

[0027] In actual application, since the signals collected by the electromyography sensors are analog signals and are greatly affected by temperature, if they are directly attached to the reverse side of the flexible substrate, there are differences in the spacing distances between the electromyography sensors and the first hot compress patch, resulting in hot compress blind spots, and the ambient temperatures of the electromyography sensors are different due to the influence of the human body temperature, resulting in insufficient accuracy in the collection of the first electromyography signals. Based on this, the patch can be set as a multi-layer structure, specifically including a substrate layer, a hot compress layer, and an electrode layer. Please refer to Figure 2 , Figure 2 is a schematic structural diagram of the patch. The flexible substrate is prepared as a planar structure to form the substrate layer; the first hot compress patch is arranged at the bottom of the flexible substrate; the electrode patches, electromyography sensors, and temperature sensors are all arranged at the bottom of the first hot compress patch and transmit signals to the control terminal through cables. The multi-layer structure can enable the first hot compress patch to perform overall hot compress on the muscles and ensure that the ambient temperatures of the electromyography sensors and the temperature sensors are the same, reducing the acquisition error caused by temperature differences.

[0028] Please refer to Figure 3 , when implementing multi-point electrical stimulation, a patch can be set based on the outer contour of the muscle, and multiple electrical stimulation points are set on the patch. As shown in the figure, for the electrical stimulation of the rectus femoris muscle, areas A and B can be set. Points A1 - A are set in area A 12 , and points B1 - B are set in area B 10 . A corresponding first electromyogram signal is collected for each electrical stimulation point, and then the first electromyogram signals collected at all points are further fused to accurately obtain the excitability of the muscle.

[0029] Exemplarily, the stretching device includes a first fixing component, a second fixing component, a joystick, and a driving component. The first fixing component is used to fix the limb on one side of the joint to be rehabilitated; the second fixing component is hinged to the first fixing component, and the hinged rotation shaft can be used to implement the hinge of the first fixing component and the second fixing component. The second fixing component is used to fix the limb on the other side of the joint to be rehabilitated. The joystick is connected to the control terminal and is used to output a manipulation signal under the manipulation of the user, so that the control terminal outputs a stretching instruction according to the manipulation signal; the driving component is installed on the first fixing component and / or the second fixing component. The driving component can be set as an electric telescopic rod or a servo motor. When configured as an electric telescopic rod, both ends of the electric telescopic rod are respectively connected to the first fixing component and the second fixing component; when configured as a servo motor, the servo motor is connected to the hinged rotation shaft. The driving component is connected to the control terminal and is used to adjust the hinge angle between the first fixing component and the first fixing component according to the stretching instruction. The stretching amplitude of the stretching training can also be fed back through the driving component, which can be obtained based on the encoder disk signal fed back by the servo motor or determined based on the telescopic stroke of the electric telescopic rod.

[0030] It should be noted that the structures of the first fixing component and the second fixing component can be set based on the joint to be rehabilitated and can be set as a wearable structure. The driving component can be set as a flexible electric rehabilitation trainer, which specifically includes a motor, a transmission mechanism, and a stretching belt. The motor serves as the power source and drives the stretching belt through the transmission mechanism under the control of the control terminal, thereby performing regular stretching training on the user's limb. The rotation angle and speed of the motor can be accurately controlled by programming or presetting parameters according to different training requirements, and then the stretching stroke can be accurately controlled.

[0031] Further, the control terminal is further configured to output an anti-resistance control signal according to a second electromyogram signal fed back by a muscle during the stretching activity of the joint to be rehabilitated; the servo motor or the electric control telescopic rod is further configured to perform anti-resistance training on the joint to be rehabilitated according to the anti-resistance control signal. Anti-resistance training is to increase the load of joint rehabilitation training, strengthen the strength training of muscles, and improve the brain's control ability over muscles. During the limb rehabilitation process, especially for patients with weak joint flexion and extension functions, anti-resistance training can significantly improve their active control ability and tissue load tolerance, and it is an important transition stage from passive recovery to active training.

[0032] The second electromyogram signal can also be acquired based on electromyogram sensors on each muscle. The second electromyogram signal represents the active electromyogram response during the training process and can identify whether there are characteristics of active contraction, participation, or resistance during muscle stretching or anti-stretching. For example, if a patient shows active resistance (i.e., actively contracts the muscle group) during passive stretching, it indicates that the muscle group has a certain participation ability, and at this time, anti-resistance training can be gradually introduced. Therefore, based on the second electromyogram signal, the load that the muscle can bear in the current state can be analyzed, and the corresponding anti-resistance control signal is output. The anti-resistance control signal is used to control the servo motor or the electric control telescopic rod to generate a corresponding resistance torque. After receiving the anti-resistance control signal, the servo motor or the electric control telescopic rod outputs a torque in the opposite direction to the stretching direction to provide an external resistance, and the user needs to actively participate in completing the action.

[0033] When implementing stretching training, the second electromyogram signals of the muscle groups can be collected through each electromyogram sensor, and the root mean square value (or RMS) of the electromyogram of the muscle groups is determined through all the electromyogram signals, which reflects the instantaneous contraction intensity of the muscle groups. According to the formula: , the stretching angle under the load torque is calculated, is the torque gain coefficient, is the stretching angle under the root mean square value of the electromyogram, is the basic resistance value, which is used to ensure that even low electromyogram signals can provide a basic anti-resistance load.

[0034] Based on the above formula, during the stretching training process of the rehabilitation training, all load torques under different stretching angles , a torque curve for implementing resistance training is generated based on the correspondence between the pulling angle and the load torque, and the control terminal controls the servo motor or the electric telescopic rod to output the corresponding torque based on the torque curve. It should be noted that since the limbs and the tow rod have their own weight, after obtaining the torque curve, the torque curve can also be corrected based on the weight of the limbs and the tow rod to improve its accuracy. It can be understood that based on the above method, during the resistance training, the corresponding load can be applied based on the joint rotation angle of the resistance training. This method can overcome the resistance through the active participation of muscles, improve the contraction ability of muscle fibers, and at the same time achieve the purpose of painlessness or slight pain during resistance training, thereby improving the user experience during rehabilitation training.

[0035] When implementing dynamic training of the joint to be rehabilitated, since there may be pain if the joint to be rehabilitated is greatly stretched, the user can control the operation of the drive component based on the manipulation of the operating lever to make the first fixed component and / or the second fixed component rotate in conjunction to control the stretching amplitude during the dynamic rehabilitation training. The operating lever can enable the user to independently control the stretching stroke during rehabilitation training to achieve the purpose of painless or slightly painful rehabilitation training.

[0036] See also Figure 4 , Figure 4 The diagram is a schematic diagram of the use of knee joint rehabilitation training. When implementing knee joint rehabilitation training, the seat is configured to facilitate users to implement rehabilitation training in a sitting position. The first fixing component includes a seat, a first fixing belt and a base. The seat is provided with a backrest. The base is installed on the seat to support the seat. Two first fixing belts are provided and installed on the seat. The second fixing component includes a support rod and a second fixing belt. The support rod and the outer edge of the seat are connected by a hinge shaft so that the two are hinged. The driving component is configured as a servo motor. The control terminal sends a pulse control signal to the servo motor to adjust the hinge angle and rotation speed of the support rod.

[0037] In order to facilitate users to implement rehabilitation training, a column is set on the front side of the seat, and a joystick is installed on the top of the column. After the user sits on the seat, each patch is applied to the corresponding muscle, the limb is fixed by the first fixing belt and the second fixing belt, the first hot compress is turned on to apply hot compress to the muscle, and the corresponding electrical stimulation signal is released based on the position of each muscle, and the first electromyographic signal fed back is obtained to perform static rehabilitation training. When the rectus femoris, vastus medialis and vastus lateralis muscles all reach the corresponding excitement level, the user manipulates the operating lever to control the rotation of the support rod. If he feels uncomfortable, he pulls back the operating lever in time. During the dynamic rehabilitation training, the stretching amplitude is gradually increased until the dynamic rehabilitation task is completed. It can be understood that the target stretching number and maximum stretching amplitude of the dynamic rehabilitation task can be set based on the actual situation of the joint to be rehabilitated, or can be set according to the doctor's advice, and no specific restrictions are made here.

[0038] In practical applications, since accurate placement of the patch is required for limb rehabilitation training, errors may occur based on the user's independent operation, and it is difficult to quantify the results of dynamic training. Based on this, in a specific implementation, the training system further includes a display terminal and a resistance measurement device. Please continue to refer to Figure 3 , the display terminal is connected to the control terminal. The display terminal is used to display the application position corresponding to each patch according to the patch indication information output by the control terminal in the static mode. The resistance measurement device is arranged on one side of the stretching device and is connected to the control terminal. The resistance measurement device is used to measure the resistance moment of the joint to be rehabilitated during rehabilitation training in the dynamic mode.

[0039] The display terminal can be configured as a liquid crystal display or a touch display. In the static mode, it displays the patch indication information based on the joint of the limb rehabilitation training implemented by the user. Through the patch indication information, the user can apply each patch to the corresponding position of the limb to implement accurate electrical stimulation and the first myoelectric signal acquisition. At the same time, the progress of the limb rehabilitation training can also be displayed through the display terminal. For example, when there is an excitability difference between multiple muscles, the specific excitability of each muscle can be displayed, and the muscle with a lower excitability can be highlighted. Further, the stretching amplitude during the dynamic rehabilitation training can also be displayed through the display terminal, so that the user can intuitively understand the achieved rehabilitation degree.

[0040] After completing the stretching rehabilitation training of the limb, the rehabilitation degree of the limb can be measured by the resistance measurement device. The resistance measurement device can be installed on the column. The resistance measurement device includes a lining, a deformation sensor, and a flexible layer. The lining can be made of a plastic material, the flexible layer is coated on the outside of the lining, and the deformation sensor is installed between the lining and the flexible layer. Continuing with the example of knee joint rehabilitation training, the user can lift the leg to apply pressure to the resistance measurement device. The deformation sensor deforms under the action of this pressure and outputs a pressure signal. The control terminal analyzes the pressure signal to obtain the corresponding resistance moment. The resistance moment can be used to characterize the load that the limb can bear after completing the rehabilitation training, which is convenient for the user or medical staff to judge the rehabilitation situation of the limb.

[0041] Based on the same technical concept as the training system, the embodiment of the present invention further provides a training method for limb rehabilitation, which is applied to any of the above training systems. The training method can run based on the control terminal of the training system. Please refer to Figure 5 , Figure 5 is a flowchart of the training method. The training method includes: S11. When multiple patches are correspondingly applied to the muscles of the joint to be rehabilitated of the user in the static mode, control each patch to release an electrical stimulation signal to the applied muscle and receive the fed-back first myoelectric signal.

[0042] Specifically, when applying electrical stimulation to muscles, corresponding electrical stimulation parameters, such as electrical stimulation current, voltage, frequency, etc., can be configured based on each muscle to make the configured electrical stimulation parameters suitable for the electrical stimulation of that muscle. To reduce the interference in collecting the first electromyogram signal during the electrical stimulation process, the first electromyogram signal feedback by the muscle can be collected after a single electrical stimulation, and the first electromyogram signal can be filtered and noise-reduced to facilitate accurate analysis in the subsequent implementation.

[0043] Exemplarily, step S11 includes sub-steps S11-1 to S11-3, which are specifically described as follows: S11-1. Obtain the initial electrical stimulation curve corresponding to each patch according to the patch area and patch position of each patch, where the initial electrical stimulation curve is a curve of electrical stimulation intensity varying with electrical stimulation time. The initial electrical stimulation curve can be set based on the patch area and patch position. To reduce the discomfort caused to the user during the electrical stimulation process, the electrical stimulation intensity of the initial electrical stimulation curve gradually increases with the electrical stimulation time. The initial electrical stimulation curve reflects the change process of the electrical stimulation signal from startup to reaching the set stable state, considering factors such as skin impedance, electrode contact, and local muscle thickness in the considered area, so that the electrical stimulation signal can effectively stimulate the corresponding muscle.

[0044] It should be noted that due to joint damage, the muscle may not contract or relax under its control for a certain period of time, and there may be a rigid situation. By setting the initial electrical stimulation curve, the control of the muscle can be gradually "awakened". The configuration of the initial electrical stimulation curve enables the muscle to enter an activation state suitable for dynamic stretching training from a resting state without generating excessive stimulation. Therefore, based on the initial electrical stimulation curve, low-intensity and low-frequency electrical stimulation will be adopted, and the stimulation intensity will be gradually increased to make the muscle gradually respond, thereby achieving the "awakening" effect.

[0045] S11-2. Release the electrical stimulation signal to the applied muscle in a pulsed manner according to the initial electrical stimulation curve of each patch. The initial electrical stimulation curve can be discretized into several time nodes, and each node corresponds to a pulsed voltage value to form a pulse sequence. The electrical stimulation signal is released in a pulsed manner, and the corresponding pulse width, frequency, and duty cycle are set to ensure that the muscle can obtain continuous and intermittent electrical stimulation within a short time. Through the pulsed manner, the muscle can be effectively activated, and the discomfort or muscle fatigue that may be caused by continuous electrical stimulation can be avoided.

[0046] Furthermore, by applying electrical stimulation corresponding to different initial electrical stimulation curves, it is possible to finely adjust the parameters according to the physical properties (such as volume and depth) of different muscles, ensuring that larger muscles receive higher stimulation while smaller muscles are subjected to milder stimulation. During the entire electrical stimulation process, the relationship between the first electromyogram signal and the muscle response can be monitored in real time, and the electrical stimulation parameters can be dynamically corrected when necessary to ensure that the activation effect meets the expected standard. This electrical stimulation method realizes the transition from a static state to a pre-activated state.

[0047] S11-3. After the electrical stimulation time reaches the preset time threshold, indicating that the muscle has been initially awakened, start receiving the first electromyogram signal during the inter-pulse time period. Since the first electromyogram signal is easily masked by strong electrical stimulation signals during the emission of electrical stimulation pulses, a strategy of collecting the first electromyogram signal during the pulse interval period is required. After the electrical stimulation pulse ends, a short "inter-pulse" time window is left, and the electromyogram sensor collects the actual bioelectric signal of the corresponding traction muscle, that is, the first electromyogram signal.

[0048] So far, the initial electrical stimulation of each muscle has been completed, and the corresponding first electromyogram signal has been obtained.

[0049] S12. Obtain the excitability differences between multiple muscles based on the first electromyogram signal feedback by the muscles.

[0050] Specifically, the first electromyogram signal can be collected based on a preset frequency. The first electromyogram signal is characterized by a voltage value. By analyzing the change of this voltage value over the collection time, the electromyogram curve of each muscle is obtained. By analyzing the electromyogram curves feedback by each muscle, such as calculating the fluctuation amplitude and frequency of the curve, the activation level and excitability value of each muscle are characterized, and the excitability differences between multiple muscles are found.

[0051] Exemplarily, step S12 includes sub-steps S12-1 to S12-4, which are specifically described as follows: S12-1. Based on the first electromyogram signal feedback from different positions of each muscle, obtain the electromyogram curve of each position, where the electromyogram curve is a curve representing the change of the voltage value of the first electromyogram signal over the feedback time. Due to the size difference of muscles, for larger muscles, multi-point collection needs to be implemented. Please continue to refer to Figure 3 , multiple electromyogram sensors distributed at different positions of the muscle can be used to collect the first electromyogram signal to form the electromyogram curve of each position.

[0052] These curves reflect the dynamic process of voltage values changing over time and can intuitively display the activation of muscles after electrical stimulation. It is necessary to enable each electromyography sensor to perform data acquisition under the same clock to ensure the comparability of data at different positions in time. During the acquisition process, a high sampling rate and a preprocessing filtering algorithm are adopted to remove noise and residual interference from electrical stimulation, ensuring clear and accurate electromyography curves. The data of each curve will be stored and further used for subsequent fluctuation feature analysis to provide basic data for calculating the muscle excitation values at each position.

[0053] S12-2. Obtain the muscle excitation value at each position based on the fluctuation characteristics represented by the electromyography curves at each position. Conduct a detailed fluctuation feature analysis on the electromyography curves obtained from each acquisition point, such as calculating parameters like the root mean square value (RMS) and integrated electromyography (iEMG), to quantify the muscle activation level at each acquisition point, that is, the muscle excitation value. It can be understood that the first electromyography signal is a high-frequency and randomly varying electrical signal. Taking the direct mean value may cause the positive and negative fluctuations to cancel each other out, resulting in an underestimation of the excitation level. The root mean square value, through the calculation method of squaring, taking the mean value, and then taking the square root, can effectively measure the change characteristics of the signal, avoiding the problem of positive and negative cancellation and having good robustness.

[0054] S12-3. Perform weighted calculation and normalization processing based on the muscle excitation values at all positions of each muscle to obtain the muscle excitability of each muscle. When implementing the weighted processing, weight values can be assigned to the points in different regions. Please continue to refer to Figure 3 , Region A is located at the outer edge of the muscle. Based on the fluctuations of the 12 muscle excitation values in Region A, weight values can be assigned respectively to calculate the muscle excitation value of Region A; based on the fluctuations of the 10 muscle excitation values in Region B, corresponding weight values are also assigned to calculate the muscle excitation value of Region B. Further, calculate the muscle excitation value of this muscle through the muscle excitation values of the two regions to ensure that the contributions of data at different positions to the overall excitability are reasonably reflected. After calculating the muscle excitability of each muscle, it is also necessary to perform normalization processing on the results to map the excitability of each muscle to a preset range for subsequent effective comparison.

[0055] S12-4. Obtain the excitability difference between multiple muscles based on the difference results between all muscle excitabilities. Compare the muscle excitabilities after normalization processing to obtain the difference value between them. First, a global reference excitability (such as the average value or median value of all muscle excitabilities) can be determined, and then calculate the deviation between each muscle and this reference value. This difference value can intuitively reflect which muscles are in a state of insufficient activation or over-activation. Through data statistics and difference analysis, detailed excitability differences can be generated to provide precise parameters for subsequent implementation of differential electrical stimulation.

[0056] S13. Differentially electrically stimulate multiple muscles according to the difference in excitability until a stretching instruction is output when the excitability of each muscle is greater than a preset value.

[0057] Specifically, after obtaining the difference in excitability between multiple muscles, personalized and differential electrical stimulation adjustments are implemented according to the actual activation conditions of each muscle until all muscles reach the preset activation level. The preset value can be set based on the physiological characteristics, position, and size of different muscles, as long as it is determined that the corresponding muscles can participate in subsequent dynamic rehabilitation training in a better state.

[0058] It can be understood that under the same electrical stimulation conditions, each muscle may exhibit different excitabilities. If all muscles receive the same intensity of electrical stimulation, some muscles may be overexcited, while some muscles may still be in a relatively low excitatory state. Through differential electrical stimulation, the excitability of all muscles can reach a consistent excitatory state, ensuring coordinated muscle contraction during stretching training and avoiding poor training effects caused by insufficient activation of some muscles.

[0059] Exemplarily, step S13 includes sub-steps S13-1 to S13-4, which are specifically described as follows: S13-1. Obtain the excitability difference of each muscle according to the difference between the muscle excitability and the reference excitability of each muscle. The reference excitability is usually obtained by statistically analyzing the excitability data of all muscles, such as the average value or median. By comparing the muscle excitability of each muscle with the reference excitability, the positive and negative differences between each muscle and the reference value can be obtained. A positive value indicates that the muscle has exceeded the reference activation level, while a negative value indicates that the muscle is in a state of insufficient activation.

[0060] S13-2. Obtain the corresponding electrical stimulation correction coefficient according to the position of each muscle. The intensity or frequency of the electrical stimulation implemented may vary depending on the position of the muscle. Therefore, the setting of the electrical stimulation correction coefficient can refer to clinical experience and experimental data, assigning a higher correction coefficient to larger and deeper muscles, while assigning a lower coefficient to smaller and more superficial muscles. By consulting the database and model prediction, various physiological parameters are converted into specific correction coefficients and incorporated into the control algorithm to achieve scientific and reasonable differential electrical stimulation control.

[0061] S13-3. Obtain the task curve for differential electrical stimulation of each muscle according to the excitability difference and the electrical stimulation correction coefficient of each muscle. The task curve is a curve showing the change in the voltage value of the muscle for continuous electrical stimulation over time. The task curve characterizes the dynamic trend of the voltage value of the electrical stimulation that each muscle needs to compensate over time during the continuous electrical stimulation process.

[0062] The electrical stimulation intensity required for each muscle can be calculated based on the excitability difference and the electrical stimulation correction coefficient to enable it to reach the corresponding excitation state, and a task curve can be generated from the electrical stimulation intensity and the tolerance curve of the muscle for electrical stimulation. Of course, a convolutional neural network model can also be constructed and trained based on the correspondence between the excitability difference, the electrical stimulation correction coefficient, and the task curve. After the convolutional neural network model is trained, the excitability difference and the electrical stimulation correction coefficient of each muscle are input into the convolutional neural network model, and the task curve is obtained based on the output result of the convolutional neural network model.

[0063] S13-4. Continuously release electrical stimulation signals according to the task curve corresponding to each muscle. The task curve can characterize the voltage, pulse width, and frequency parameters required for implementing electrical stimulation, and differential electrical stimulation can be completed by continuously releasing electrical stimulation signals to each muscle through electrode patches. Throughout the process, it is necessary to maintain real-time communication between the control terminal and the electromyographic sensor, monitor the electrical stimulation effect and the muscle activation state, and dynamically adjust the output signal according to the feedback to ensure that each muscle can ultimately reach the preset activation threshold. At this stage, strict control of the electrical stimulation parameters is required to prevent discomfort or muscle fatigue caused by excessive electrical stimulation. Through closed-loop regulation, the differential electrical stimulation signal can accurately compensate for the insufficient activation between muscles and gradually achieve the balance of the activation state of each muscle, providing sufficient implementation conditions for dynamic stretching rehabilitation training.

[0064] At this point, the excitability of each muscle is greater than the preset value, and the rehabilitation joint meets the implementation conditions for dynamic stretching.

[0065] S14. Control the stretching device to perform stretching activities on the joint to be rehabilitated according to the stretching instruction to carry out rehabilitation training in a dynamic mode for the joint to be rehabilitated.

[0066] Specifically, after receiving the stretching instruction, the stretching device is activated to perform dynamic stretching training on the joint to be rehabilitated. The main goal of this step is to use a mechanical actuator to apply a slow and continuous stretching force to the joint to be rehabilitated, gradually improving the joint range of motion and restoring muscle flexibility and stability. Throughout the process, the control terminal will monitor the joint movement state, stretching force, and angle changes in real time, and at the same time collect multiple physiological data such as temperature and electromyogram to ensure the safety, comfort, and efficiency of the training process.

[0067] Further, before performing dynamic stretching, in order to improve the comfort and training effect of limb rehabilitation training, a second hot compress patch can also be configured to perform hot compress on the joint to be rehabilitated. Its function is to promote local blood circulation, reduce tissue viscosity, relieve pain, and reduce joint stiffness, thereby enhancing the safety and effectiveness of subsequent dynamic stretching training. The second hot compress patch is connected to the control terminal, and the heating timing of the second hot compress patch is controlled through the control terminal. The second hot compress patch can be wrapped around the front or back of the knee. It is preheated before the start of the static mode to slowly increase the temperature of the joint tissue and reduce the sense of stiffness. It maintains an appropriate temperature during electrical stimulation to improve the flexibility of muscles and joints. It continuously performs hot compress before and after dynamic stretching to reduce the pain and discomfort caused by stretching.

[0068] It should be noted that the above sequence of embodiments of the present invention is only for description and does not represent the advantages or disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A training system for limb rehabilitation, characterized in that: The system comprises: A plurality of patches, each patch being applied to a muscle of a joint to be rehabilitated by a user, the patch being used to release an electrical stimulation signal to the muscle and receive a first myoelectric signal fed back; A control terminal connected to the plurality of patch sheets, the control terminal being used to control each patch sheet to release an electrical stimulation signal to the applied muscle in a static mode, and to obtain the difference in excitability between the plurality of muscles according to the first electromyographic signal fed back by the muscle; and to perform differentiated electrical stimulation on the plurality of muscles according to the difference in excitability, and to output a stretching instruction until the excitability of each muscle is greater than a preset value; A stretching device is connected to the control terminal, and is used to perform stretching activities on the joint to be rehabilitated according to the stretching instruction, so as to perform dynamic mode rehabilitation training on the joint to be rehabilitated.

2. The limb rehabilitation training system according to claim 1, characterized in that: The patch comprises: Flexible substrate; An electrode sheet is arranged in close contact with the flexible substrate, the electrode sheet is connected to the control terminal, and the electrode sheet is used to release an electrical stimulation signal to the applied muscle; An electromyographic sensor is arranged in close contact with the flexible substrate, the electromyographic sensor is connected to the control terminal, and the electromyographic sensor is used to receive a first electromyographic signal fed back by the muscle; A temperature sensor is arranged in close contact with the flexible substrate, the temperature sensor is connected to the control terminal, and the temperature sensor is used to collect the temperature value of the applied muscle; A first heat compress sheet is arranged in contact with the flexible substrate, the first heat compress sheet is connected to the control terminal, and the first heat compress sheet is used to apply heat to the muscles to which it is applied; The control terminal is also used to control the first hot compress sheet to apply hot compress to the muscle, and control the heating timing of the first hot compress sheet according to the temperature value collected by the temperature sensor.

3. The limb rehabilitation training system according to claim 1, characterized in that: The drafting device comprises: A first fixing component is used to fix the limb on one side of the joint to be rehabilitated; A second fixing component is hinged to the first fixing component, and the second fixing component is used to fix the limb on the other side of the joint to be rehabilitated; A joystick connected to the control terminal, the joystick is used to output a manipulation signal under the manipulation of the user, so that the control terminal outputs the drafting instruction externally according to the manipulation signal; A driving component is installed on the first fixed component and / or the second fixed component, and the driving component is connected to the control terminal. The driving component is used to adjust the articulation angle between the first fixed component and the second fixed component according to the stretching instruction.

4. The limb rehabilitation training system according to claim 3, characterized in that: The driving component is a servo motor or an electrically controlled telescopic rod; the control terminal is also used to output a resistance control signal according to a second electromyographic signal fed back by the muscles of the joint to be rehabilitated during the stretching activity; the servo motor or the electrically controlled telescopic rod is also used to perform resistance training on the joint to be rehabilitated according to the resistance control signal.

5. The limb rehabilitation training system according to claim 1, characterized in that: The system further comprises: A display terminal is connected to the control terminal, and is used to display the application position corresponding to each patch according to the application instruction information output by the control terminal in the static mode.

6. A training method for limb rehabilitation, characterized in that: Applied to the training system according to any one of claims 1 to 5, the method comprises: When multiple patches are applied to the muscles of the joints to be rehabilitated in the static mode, each patch is controlled to release an electrical stimulation signal to the applied muscles, and a first myoelectric signal fed back is received; Obtaining the difference in excitability between the multiple muscles according to the first electromyographic signal fed back by the muscles; Performing differentiated electrical stimulation on the multiple muscles according to the excitability differences, and outputting a stretching instruction when the excitability of each muscle is greater than a preset value; The stretching device is controlled according to the stretching instruction to perform stretching activities on the joint to be rehabilitated, so as to perform dynamic mode rehabilitation training on the joint to be rehabilitated.

7. The limb rehabilitation training method according to claim 6, characterized in that: The application areas of the multiple patch sheets are different; In the static mode, before the plurality of patch sheets are applied to the muscles of the joints to be rehabilitated by the user, the method further comprises: According to the position information of the joint to be rehabilitated and the rehabilitation training task, the display information of the application position corresponding to each patch is output, so that the user can apply patches with different application areas to the corresponding muscles through the display information.

8. The limb rehabilitation training method according to claim 6, characterized in that: The method of controlling each patch to release an electrical stimulation signal to the applied muscle and receiving the first myoelectric signal fed back comprises: According to the application area and application position of each patch, an initial electrical stimulation curve of the corresponding patch is obtained, wherein the initial electrical stimulation curve is a curve showing the change of electrical stimulation intensity with electrical stimulation time; According to the initial electrical stimulation curve of each patch, the electrical stimulation signal is correspondingly released to the applied muscle in a pulse manner; After the electrical stimulation time reaches a preset time threshold, a first myoelectric signal in an inter-pulse time period is received.

9. The limb rehabilitation training method according to claim 6, characterized in that: The step of obtaining the difference in excitability between the multiple muscles according to the first electromyographic signal fed back by the muscle comprises: According to the first electromyographic signal fed back from different positions of each muscle, an electromyographic curve of each position is obtained, wherein the electromyographic curve is a curve representing the change of the voltage value of the first electromyographic signal with the feedback time; According to the fluctuation characteristics represented by the electromyographic curves of each position, the muscle excitation value of each position is obtained; Performing weighted calculation and normalization processing according to the muscle excitation values ​​of all positions of each muscle to obtain the muscle excitation degree of each muscle; According to the difference results between the excitability of all muscles, the excitability difference between the multiple muscles is obtained.

10. The limb rehabilitation training method according to claim 6, characterized in that: The step of performing differentiated electrical stimulation on the plurality of muscles according to the difference in excitability comprises: Obtaining the excitability difference of each muscle according to the difference between the muscle excitability of each muscle and the reference excitability; According to the position of each muscle, a corresponding electrical stimulation correction coefficient is obtained; According to the difference in excitability of each muscle and the electrical stimulation correction coefficient, a task curve for performing differentiated electrical stimulation on each muscle is obtained, wherein the task curve is a curve showing the change of the voltage value of the muscle when the muscle continues to be electrically stimulated with the stimulation time; The electrical stimulation signal continues to be released corresponding to the task curve of each muscle.

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