Motor imagery rehabilitation training method and system based on electrical stimulation tactile induction

Abstract

The invention relates to the field of exercise training, in particular to a motor imagery rehabilitation training method and system based on electrical stimulation tactile induction. The method comprises the following steps: performing electrical stimulation on a user, and recording facial electromyographic signals, electroencephalogram signals and near-infrared cerebral blood activity signals during motor imagery based on corresponding actions of electrically stimulated parts imagined by the electrical stimulation user. According to the method, the electromyographic signals, the electroencephalogram signals and the near-infrared cerebral blood activity signals are synchronously processed, the electroencephalogram signals and the near-infrared cerebral blood activity signals are analyzed, the motion of motor imagery is recognized, and visual display is carried out, so that the motion signals of the motor imagery and the brain activity can be directly observed. According to the invention, electrical stimulation is carried out on the user, and motor imagery is carried out under the induction of the electrical stimulation tactile sense, so that the motor sense area of the brain of the user is activated, the remodeling of the damaged brain area of the user is accelerated, the user is helped to recover the motor sense function, and the problem of lack of effective activation of the motor sense pathway is solved.

Description

Technical Field

[0001] The present invention relates to the field of sports training, and in particular, to a method and system for motor imagery rehabilitation training based on electrical stimulation tactile induction. Background Art

[0002] Stroke is an acute cerebrovascular disease and one of the major diseases endangering health, characterized by high incidence, high disability rate, high mortality rate and high recurrence rate. Stroke is a disease caused by sudden rupture of blood vessels in the brain or blockage of blood vessels, resulting in damage to brain tissue. Stroke can lead to various physical function disorders, such as sensory function disorders, motor function disorders, speech function disorders and cognitive function disorders, etc.

[0003] The recovery of motor function after stroke is the key for patients to resume daily activities. Existing studies have proved that the conversion between sensation and movement is an important mechanism for the human brain to regulate behavior, that is, the brain can process and transform external stimuli into information for regulating body movement. At the same time, motor imagery is also a way to promote brain remodeling and functional rehabilitation, and has currently been used in a variety of diseases, including complete cervical spinal cord injury and stroke. Therefore, it is very important to design a motor imagery BCI system based on electrical stimulation tactile induction for the motor function rehabilitation of stroke patients.

[0004] Currently, the traditional methods for the rehabilitation of motor disorders in stroke patients mainly include: physical therapy, occupational therapy, speech therapy, physical factors, hyperbaric oxygen, acupuncture, massage, etc. The purpose of the above means is also to continuously input stimuli to the central nervous system through the sensorimotor system, and at the same time promote the remodeling of the central nervous system by strengthening the correct movement pattern, so as to improve the functional disorders after stroke. Traditional rehabilitation therapy is still the main method for treating stroke in the rehabilitation medicine department, which can promote the recovery of various functional disorders after stroke to varying degrees and has sufficient evidence-based medicine basis, but there are also some deficiencies, such as slow onset, time-consuming and laborious, and poor patient compliance, etc.

[0005] Traditional exercise training methods such as acupuncture and massage are not only time-consuming and laborious but also easily affected by the subjective factors of therapists, with poor standardization. The main purpose of traditional exercise training is to strengthen the training of correct movement patterns, promote users to complete exercise training by passively stimulating muscles. Users have poor initiative and interactivity. The training process is boring and the treatment effect is difficult to quantify. Moreover, new rehabilitation treatment means such as transcranial magnetic stimulation (TMS) and exoskeleton training robots also have many drawbacks. TMS improves the function of patients by changing the metabolism and neural electrical activities in the brain. This method directly acts on the brain nuclei, with poor user initiative and participation. And TMS only acts on a single brain region, making it difficult to activate the entire brain, and it also needs to be combined with other functional training. Exoskeleton training robot technology is difficult to be popularized and applied clinically because of its high price, complex operation process, and its size is difficult to be suitable for all patients.

[0006] Therefore, there are still deficiencies in the existing technology and it needs to be improved. Summary of the Invention

[0007] The embodiment of the present invention provides a motion imagination rehabilitation training system and method based on electrical stimulation tactile induction, obtains the electroencephalogram signals generated by the stimulation, analyzes the electroencephalogram signals, and then outputs the actions imagined by the user based on the electrical stimulation and visualizes them together with the brain state.

[0008] The present invention provides a motion imagination rehabilitation training method based on electrical stimulation tactile induction, including the following steps:

[0009] Based on the electrical stimulation command, apply electrical stimulation to the preset stimulation site of the user at three intensities (strong, medium, weak), and record the electromyogram signals of the user's face, the electroencephalogram signals of the brain, and the near-infrared cerebral blood activity signals; wherein, the electroencephalogram signals and the near-infrared signals are the signals generated when the user imagines movement based on the electrical stimulation received by the stimulation site.

[0010] Obtain the electromyogram signals generated by the user's face, the electroencephalogram signals generated by the brain, and the near-infrared signals.

[0011] Synchronize the electromyogram signals, the electroencephalogram signals, and the near-infrared signals to generate synchronized brain signals.

[0012] Based on the analysis of the brain signals, identify and output the motion imagination actions.

[0013] Visually display the output motion imagination actions and the activity state of the user's brain at this time.

[0014] In one embodiment, after applying electrical stimulation to the preset stimulation site of the user based on the electrical stimulation command and recording the electromyogram signals of the user's face, the electroencephalogram signals of the brain, and the near-infrared cerebral blood activity signals, it further includes:

[0015] Based on the electrical stimulation position, receive the judgment signal of the user's judgment of the stimulation position before motor imagery;

[0016] And judge the position and intensity of the random electrical stimulation.

[0017] In one embodiment, after performing electrical stimulation on the preset stimulation site of the user based on the electrical stimulation command and recording the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal, it further includes:

[0018] Obtain the facial electromyogram data of the user for further data processing, monitor the experimental state of the user, and assist in the processing of brain signal data;

[0019] Remove electromyogram artifacts based on the facial electromyogram data.

[0020] In one embodiment, before analyzing the brain signal, identifying and outputting the motor imagery action, it further includes:

[0021] Collect and amplify the electroencephalogram and cerebral blood oxygen signals.

[0022] A motor imagery rehabilitation training system based on electrical stimulation tactile induction, the system includes:

[0023] An electrical stimulation module, based on the electrical stimulation command, performs three different intensities of electrical stimulation on the preset stimulation site of the user, and records the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal; wherein, the electroencephalogram signal and the near-infrared signal are signals generated by the user imagining movement based on the electrical stimulation received by the stimulation site when being electrically stimulated;

[0024] A signal acquisition module, used to acquire the electromyogram signal generated by the user's face, the electroencephalogram signal generated by the brain, and the near-infrared signal;

[0025] A synchronization module, used to synchronize the electromyogram signal, the electroencephalogram signal, and the near-infrared signal to generate synchronized brain signals;

[0026] A brain signal analysis module, used to analyze the brain signal, identify and output the motor imagery action;

[0027] An interface module, used to visually display the output motor imagery action and the current activity state of the user's brain.

[0028] In one embodiment, the system further includes:

[0029] A cognitive judgment module, used to receive the judgment signal of the user's judgment of the stimulation position before motor imagery based on the electrical stimulation position.

[0030] In one embodiment, the system further includes:

[0031] An electromyogram module, configured to acquire facial electromyogram data of a user based on electrical stimulation, monitor the experimental state of the user, and assist in the processing of brain signal data.

[0032] In one embodiment, the signal acquisition module includes:

[0033] An electromyogram signal acquisition unit, configured to acquire electromyogram signals of the user's face;

[0034] An electroencephalogram signal acquisition unit, configured to acquire electroencephalogram signals of the user's brain;

[0035] A near-infrared signal acquisition unit, configured to acquire near-infrared signals of the user's brain.

[0036] In one embodiment, the system further includes:

[0037] A signal amplifier, configured to amplify the electroencephalogram signals and send them to the brain signal analysis module.

[0038] A terminal device, including: a processor, a memory, and a communication bus; a computer-readable program executable by the processor is stored on the memory;

[0039] The communication bus realizes the connection and communication between the processor and the memory;

[0040] When the processor executes the computer-readable program, it implements the steps in the method for motor imagery rehabilitation training based on electrical stimulation tactile induction as described in any one of the above.

[0041] In the motor imagery rehabilitation training system and method based on electrical stimulation tactile induction in the embodiments of the present invention, electrical stimulation is applied to a preset stimulation site of a user, and based on the electrical stimulation, the user imagines the stimulated site to generate electroencephalogram signals and near-infrared signals. After synchronously processing the electroencephalogram signals and near-infrared signals, synchronized brain signals are generated. By analyzing the brain signals, motor imagery actions are obtained and visually displayed, so that the motor imagery actions and the corresponding brain activities can be directly observed. The present invention applies electrical stimulation to the user and conducts motor imagery under the induction of the electrical stimulation touch to activate the motor sensory area of the user's brain, accelerate the remodeling of the damaged brain area of the user, and help the user restore their motor sensory function, solving the problem of lack of effective activation of the motor sensory pathway. Description of the Drawings

[0042] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0043] Figure 1This is a flowchart of the rehabilitation training method based on electrical stimulation tactile-induced motor imagery of the present invention;

[0044] Figure 2 This is a schematic diagram of the rehabilitation training system based on electrical stimulation tactile-induced motor imagery of the present invention;

[0045] Figure 3 This is an interface diagram in the preparation stage of the interface module of the present invention;

[0046] Figure 4 This is a schematic diagram showing the thumb being stimulated to imagine grasping and the upper arm being stimulated to imagine lifting in the embodiment of the present invention;

[0047] Figure 5 This is a diagram of the terminal device of the present invention. Detailed implementation manners

[0048] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] Embodiment 1

[0051] According to an embodiment of the present invention, a rehabilitation training method based on electrical stimulation tactile-induced motor imagery is provided. Refer to Figure 1 , including the following steps:

[0052] S100: Based on an electrical stimulation command, perform electrical stimulation on a preset stimulation site of the user, and record the myoelectric signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal; wherein, the electroencephalogram signal and the near-infrared signal are signals generated when the user imagines movement based on the electrical stimulation received by the stimulation site when being electrically stimulated;

[0053] S200: Obtain the myoelectric signal generated by the user's face, the electroencephalogram signal generated by the brain, and the near-infrared signal;

[0054] S300: Synchronize the myoelectric signal, the electroencephalogram signal, and the near-infrared signal to generate a synchronized brain signal;

[0055] S400: Identify and output motor imagery actions based on the analysis of brain signals.

[0056] S500: Visually display the output motor imagery actions and the current activity state of the user's brain.

[0057] Specifically, the stimulation site can be set to the user's thumb or upper arm. The electrical stimulation module performs mild electrical stimulation of different intensities on the user's thumb or upper arm, randomly performing three different intensities of electrical stimulation. When the user is stimulated, the brain determines what position is being stimulated and imagines corresponding actions based on this judgment. For example, if the user determines that the thumb is being stimulated, they imagine the action of grasping with five fingers, and if they determine that the upper arm is being stimulated, they imagine the action of raising the upper arm. Based on the imagination of the action of grasping with five fingers or raising the upper arm, the user's brain will generate corresponding signals, including electroencephalogram (EEG) signals and near-infrared cerebral blood signals. Then, after synchronously processing the electromyogram signals, EEG signals, and near-infrared signals, a synchronously processed brain signal is generated. By analyzing the brain signal, the motor imagery action is obtained and visually displayed, so that the motor imagery action and the user's brain state can be directly observed. The present invention activates the motor sensory area of the user's brain by electrically stimulating the user and performing motor imagery under the induction of this electrical stimulation touch, accelerates the remodeling of the damaged brain area of the user, and helps the user restore their motor sensory function, solving the problem of the lack of effective activation of the motor sensory pathway.

[0058] Furthermore, it is arranged at the user's thumb and upper arm. The amplitude range of the pulse output by each channel is from -10V to +10V, and the maximum current is 10mA. Three levels of stimulation intensity, strong, medium, and weak, are set according to experimental requirements and the user's sensory sensitivity. During the experiment, the stimulation at the thumb and upper arm is randomly triggered, and the patient is synchronously induced to perform the corresponding motor imagery task.

[0059] In one embodiment, after step S100, it further includes:

[0060] Based on the electrical stimulation, receive the judgment signal of the user's judgment of the stimulation position before motor imagery, and judge the position and intensity of the electrical stimulation.

[0061] Specifically, two buttons representing the thumb and upper arm are set. The user needs to feel which part is being stimulated. The user presses the button corresponding to the part they judge is being stimulated. After the judgment is completed, it enters the stimulation / imagery stage (as Figure 4 shown). The user tries to imagine the corresponding action according to the stimulation site, and visualizes the action to be imagined on the screen according to the position of the electrical stimulation, which can be "grasping with five fingers" or "raising the upper arm". The following details the process of stimulating the arm:

[0062] The stimulation experiment process includes four steps: preparation, stimulation / judgment, stimulation / imagination, and rest. During the stimulation / judgment stage, the user needs to press the corresponding stimulation button, and at the same time, the visualization interface jumps to the page of the stimulation / imagination stage.

[0063] During the stimulation / imagination stage, the user needs to imagine corresponding actions according to the stimulated part and the previous judgment result. When feeling the thumb is stimulated, imagine grasping with five fingers; when feeling the upper arm is stimulated, imagine lifting the upper arm; then classify the motor imagery task in real time, and use the action that needs to be imagined at the position of the electrical stimulation at this time as the correct standard. When the user imagines correctly, the corresponding imagination result is output to the visualization interface (grasping with five fingers or lifting the upper arm); when the imagination is incorrect or not good enough (the classification algorithm cannot correctly classify), the imagination result is not output. In addition, during the whole experiment process, the visualization interface will display the user's real-time brain topographic map throughout.

[0064] In one embodiment, after step S100, it further includes:

[0065] Based on the electrical stimulation, obtain the user's facial electromyography data, monitor the user's experimental state, and assist in the processing of brain signal data;

[0066] Specifically, set four pairs of electrodes, which are respectively pasted on the user's forehead, the side of the head (temple position), the cheek, and the back of the neck. Real-time obtain the user's facial EMG (electromyogram) signal during the experiment, which helps to remove electromyographic artifacts in data processing and obtain the user's real brain signal.

[0067] In one embodiment, before step S400, it further includes:

[0068] Amplify the electroencephalogram signal.

[0069] Through the amplification process of the electroencephalogram signal, the electroencephalogram signal to be analyzed becomes stronger, so as to facilitate its analysis.

[0070] Embodiment 2

[0071] The present invention provides a motor imagery rehabilitation training system based on electrical stimulation tactile induction, referring to Figure 2 , the system includes:

[0072] The electrical stimulation module 100 performs electrical stimulation on the preset stimulation part of the user based on the electrical stimulation command; records the electromyography signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal. Among them, the electroencephalogram signal and the near-infrared signal are signals generated when the user imagines movement based on the electrical stimulation received by the stimulation part.

[0073] The signal acquisition module 200 is used to acquire the electromyographic signals generated by the user's face, the electroencephalogram signals generated by the brain, and the near-infrared signals.

[0074] The synchronization module 300 is used to synchronize the electromyographic signals, electroencephalogram signals, and near-infrared signals to generate synchronized brain signals.

[0075] The brain signal analysis module 400 is used to analyze the brain signals, identify, and output the motor imagery actions.

[0076] The interface module 500 is used to visually display the output motor imagery actions and the current activity state of the user's brain.

[0077] The electrical stimulation module 100 performs mild electrical stimulations of different intensities on the user's thumb and upper arm. When the user is stimulated, the brain determines which position is stimulated and performs corresponding motor imagery based on this judgment. For example, if the user determines that the thumb is stimulated and imagines the action of grasping with five fingers according to this judgment, or if it is determined that the upper arm is stimulated, imagines the action of raising the upper arm; based on the action imagery of grasping with five fingers or raising the upper arm, the user's brain will generate corresponding signals, including electroencephalogram signals and near-infrared signals. Then, after synchronizing the electroencephalogram signals and near-infrared signals, synchronized brain signals are generated. By analyzing the brain signals, the motor imagery actions are obtained and visually displayed, so that the motor imagery actions can be directly observed. The present invention activates the motor sensory area of the user's brain by electrically stimulating the user and performing motor imagery under the induction of this tactile electrical stimulation, accelerates the remodeling of the damaged brain area of the user, and helps the user recover their motor sensory function, solving the problem of the lack of effective activation of the motor sensory pathway.

[0078] In one embodiment, the system further includes:

[0079] The cognitive judgment module is used to receive the judgment signal of the user's judgment of the stimulation position before motor imagery based on the electrical stimulation position, and judge the position of the electrical stimulation.

[0080] Specifically, the user is allowed to judge the stimulation position before motor imagery through a button. The cognitive judgment module has two buttons representing the thumb and the upper arm. The user needs to feel which part is stimulated and press the corresponding button during the stimulation / judgment stage. The stimulation experiment process includes four steps: preparation, stimulation / judgment, stimulation / imagery, and rest. During the stimulation / judgment stage, the user needs to press the corresponding stimulation button, and at the same time, the visualization interface jumps to the stimulation / imagery stage page. The specific method is as described in the above embodiment and will not be elaborated here.

[0081] In one embodiment, the system further includes:

[0082] An electromyogram module, configured to acquire facial electromyogram data of a user based on electrical stimulation.

[0083] The electromyogram module includes a total of four pairs of electrodes, which are respectively attached to the user's forehead, the side of the head (at the temple position), the cheeks, and the back of the neck. It acquires the facial EMG (electromyogram) signals of the user in real time during the experiment, removes electromyogram artifacts during data processing, and obtains the user's true brain signals.

[0084] In one embodiment, the signal acquisition module 200 includes:

[0085] An electromyogram signal acquisition unit, configured to acquire electromyogram signals of the user's face;

[0086] An electroencephalogram signal acquisition unit, configured to acquire electroencephalogram signals of the user's brain;

[0087] An infrared signal acquisition unit, configured to acquire near-infrared signals of the user's brain.

[0088] Specifically, an electromyogram signal acquisition unit, an electroencephalogram signal acquisition unit, and an infrared signal acquisition unit are arranged on a headgear, and then the headgear is worn on the user's head to acquire corresponding data.

[0089] The following elaborates on each module of the system in detail:

[0090] The electrical stimulation module 100 is arranged at the thumb and upper arm of the user's affected limb, and is set with three levels of stimulation parameters: strong, medium, and weak. The electrical stimulation module 100 is used to perform electrical stimulation of three levels, strong, medium, and weak, on the user's thumb and upper arm, and performs stimulation during training to establish electrical stimulation touch. For the electrical stimulation touch-induced motor imagery scheme, the user needs to make judgments for stimulations at different positions, which will induce different motor imagery tasks. A motor imagery position cognition is formed based on the electrical stimulation position, and the motor imagery of the specified limb is completed according to the way of electrical stimulation (strength and position). The electrical stimulation module 100 is arranged at the user's thumb and upper arm. The amplitude range of the pulse output by each channel is from -10V to +10V, and the maximum current is 10mA. Three levels of stimulation intensity, strong, medium, and weak, are set according to experimental requirements and the user's sensory sensitivity. During the experiment, stimulations at the thumb and upper arm are randomly triggered, and the patient is synchronously induced to perform corresponding motor imagery tasks.

[0091] The synchronization module 300 is used for synchronous acquisition of electroencephalogram data and near-infrared data, as well as fusion processing of electromyogram, electroencephalogram, and near-infrared data. The synchronization module 300 can ensure the synchronization of multi-modal information acquisition such as cerebral blood flow and oxygen data, electroencephalogram data, and electromyogram data, and ensure the collaborative analysis of data.

[0092] The brain signal analysis module 400 collects the electroencephalogram (EEG), electromyogram (EMG), and near-infrared data of the user during the experiment, and simultaneously performs online processing on the experimental data, analyzes the user's motor imagery state in real time, and visualizes and feeds back the user's imagery results and EEG topographic maps to the doctor and the user. The signals collected from the user during the experiment include multi-modal signals such as EEG, cerebral blood oxygen, and EMG. Online processing is performed on the experimental data simultaneously, the user's motor imagery state is analyzed in real time, and the user's imagery results and EEG response states (amplitude and phase information of 5 - 7Hz, 7 - 13Hz, 13 - 24Hz, and sub-bands of these frequency bands) are transmitted to the interface module 500.

[0093] The brain signal analysis module 400 includes a headcap integrating 64-channel EEG and 60-channel near-infrared, an amplifier, a near-infrared device, and a computer installed with brain-computer interface software, which are connected in sequence through signal lines. The amplifier uses a Neuroscan 64-channel amplifier matching the headcap; the near-infrared device uses a 60-channel near-infrared probe installed on the headcap to collect blood flow and blood oxygen signals. The headcap is worn on the user's head, and the EMG signal acquisition unit, EEG signal acquisition unit, and infrared signal acquisition unit are all set on the headcap to obtain corresponding signals; the brain-computer interface software performs preprocessing, feature extraction, and motor imagery classification operations on the brain signals, and transmits the visualized results of the processing to the user interface module 500.

[0094] The interface module 500 is located at a position one meter parallel to the user's line of sight, used to prompt the user to perform corresponding experimental steps, receive the visualized information transmitted from the brain signal analysis module, and display the user's EEG topographic map and motor imagery classification results in real time during the stimulation process. During the stimulation / imagery process, the user needs to perform corresponding motor imagery tasks according to the judged stimulation position. The interface module 500 will display the classification results of the motor imagery tasks corresponding to the judged results in real time (when the classification results do not correspond to the motor imagery of the electrical stimulation position, these results are not displayed). At the same time, the topographic map of the user's EEG response state will be displayed in real time in the upper right corner of the user interface throughout the training, indicating the user's brain response during the training process.

[0095] The present invention discloses a motor imagery rehabilitation training system based on electrical stimulation tactile induction. The EMG module and the brain signal analysis module 400 collect the EMG and brain signal information of the user during electrical stimulation, and perform real-time classification of motor imagery. In combination with the cognitive judgment module to judge the stimulation position, the data analysis results are displayed in real time in the interface module 500 in the form of EEG topographic maps and corresponding motor imagery actions, so that the user can adjust their training state in real time and establish a closed-loop brain-computer interface training system.

[0096] The following are the specific steps of an embodiment of the technical solution of the system of this application:

[0097] Step 1: Select a relatively quiet and comfortable environment. In a semi - enclosed room with stable lighting, comfortable temperature, and strong sound insulation ability, try to isolate unnecessary external interference.

[0098] Step 2: Install the near - infrared probe on the head - mounted cap and wear the head - mounted cap for the user. Arrange the electrical stimulation module 100 on the user's thumb and upper arm, and arrange the electromyogram module on the user's face. Start the electrical stimulation module 100 and set three levels of stimulation intensity (strong, medium, and weak) according to the user's sensory sensitivity. Let the user keep the body in a relaxed state, and try to avoid long - time closing eyes, clenching teeth, and other actions during the training process.

[0099] Step 3: Turn on the electroencephalogram amplifier, near - infrared acquisition device, connect the synchronization box and electromyogram electrodes to ensure synchronous data acquisition.

[0100] Step 4: Open the acquisition software in the brain signal analysis module 400, check the signal acquisition quality and perform data acquisition. Open the analysis software, and select feature extraction methods including filtering / spectral feature analysis / autoregressive model / common spatial pattern, etc., and classification methods including linear discriminant analysis, support vector machine, Bayesian classification, etc.

[0101] Step 5: Open the interface module 500, click the start button, set the parameters of the required stimulation (including stimulation intensity, frequency, etc.). Let the user relax the whole body, place the upper arm with the stimulation electrode naturally on the thigh, and gently place the other idle hand on the button of the cognitive judgment module. Click the start button, and the interface jumps to the preparation page (as Figure 3 shown), and generate a real - time brain topographic map.

[0102] Step 6: The user starts training and enters the stimulation / judgment stage. The system randomly triggers the stimulation at the thumb or upper arm. The user presses the corresponding button on the cognitive judgment module with the idle hand according to the stimulated part;

[0103] After the judgment ends, enter the stimulation / imagination stage (as Figure 4 shown). The user tries to imagine the corresponding action according to the stimulated part. When feeling the thumb is stimulated, imagine grasping (as shown by 1 in Figure 4 ), when feeling the upper arm is stimulated, imagine lifting the upper arm (as shown by 2 in Figure 4 ). The analysis software classifies the user's motor imagination process in real - time, and takes the motor imagination result corresponding to the electrical stimulation position as the correct standard. When the user imagines correctly, the classification result is transmitted to the interface module 500 for visual display (five - finger grasping or upper - arm lifting action). When the user imagines wrongly or not well enough, the classification result is not output; after the stimulation / imagination stage ends, the interface module 500 jumps to the rest page and stops the stimulation to prepare for the next group of training.

[0104] Step 7, during the stimulation / imagination process, the user can see the results of their motor imagination in real time on the visualization interface and can adjust their imagination state in real time. The results of the motor imagination are represented by corresponding action images. At the same time, during the entire experimental process, the interface module 500 displays the electroencephalogram topographic map in real time to represent the brain state (as Figure 3 shown), where the dark color indicates that the corresponding area has a better response, and the light color indicates a poorer response or more noise. The combination of the real-time motor imagination interface and the electroencephalogram topographic map interface is used to achieve visual feedback to help the user adjust their training state in a timely manner.

[0105] Step 8, the user undergoes training with three levels of stimulation: strong, medium, and weak. Two sets of training are conducted for each level of stimulation. Each set of training includes 10 upper limb stimulations and 10 thumb stimulations. These stimulations are randomly given to the user. After each set of training, the user interface will automatically jump to the end page, waiting for the user to readjust the parameters before proceeding with the next set of training. After the training, it is recommended that the user undergo a hand function assessment of sensation and movement.

[0106] The system of the present invention has the following beneficial effects:

[0107] 1. The present invention classifies the user's motor imagination tasks in real time and visually presents the correct imagination results to the user. This method can continuously provide visual feedback to the patient and help the user adjust the motor imagination state in real time, which is beneficial for the user to carry out rehabilitation training.

[0108] 2. The present invention displays the electroencephalogram response state topographic map of the user in real time during the training process, visualizes the user's brain activities, and helps the user more directly observe their brain state.

[0109] 3. The present invention sets three levels of stimulation: strong, medium, and weak, simulates the tactile states of the user in various scenarios, and helps the user carry out more comprehensive rehabilitation.

[0110] 4. The present invention adds a cognitive judgment module, incorporates cognition into the closed-loop brain-computer interface system, and improves the neural feedback process.

[0111] 5. The present invention induces the user to perform motor imagination through electrical stimulation of touch. Through the two stages of judgment and imagination, electrical stimulation of touch can be more effectively used to activate motor imagination and corresponding cognition, improve the efficiency of motor imagination, and enhance the effect of motor training.

[0112] The present invention utilizes electrically stimulated tactile-induced motor imagery to enhance the activation of the motor area, further assisting the user in upper limb motor function training. At the same time, the present invention is equipped with a cognitive judgment module that enables the user to judge the stimulation position before motor imagery, thus improving cognitive feedback. In addition, the present invention also analyzes brain signals in real time and visually feedbacks the motor imagery results and electroencephalogram topographies to the user to help them establish visual feedback and construct a complete closed-loop brain-computer interface system.

[0113] Through experimental simulations, the present invention has achieved the visualization of the user interface, enabling the above functions to prompt and assist the user in training; realized the synchronization of electroencephalogram, electromyogram, and near-infrared data, promoting multi-signal collaborative analysis; and realized all the functions of the above-mentioned electrical stimulation module, capable of controlling the stimulation intensity and stimulation site. Through preliminary clinical experiments (the subjects trained according to the requirements of the user interface), the electroencephalogram cap, near-infrared device in the brain signal acquisition and analysis module, and the electromyogram electrodes in the electromyogram module can be connected to a computer equipped with brain signal acquisition and analysis software through a synchronization module, and preprocessing, feature extraction, and classification operations can be performed.

[0114] The present invention can also adopt the following solutions:

[0115] 1. The amplifier in the brain signal analysis module, the near-infrared device, and the electromyogram module in the electromyogram module can be integrated into the same small device. This device avoids excessive signal line connections, optimizes the synchronization module, greatly facilitates the use by non-professionals, and also enhances the comfort and freedom of the user.

[0116] 2. The brain signal analysis software can be integrated with the user interface into one software to form a complete brain-computer interface training software. At the same time, this software can integrate multiple data processing methods and algorithms for non-professionals to choose from. Ultimately, the user no longer needs to use additional computers and software, and only needs to connect the software to the small device integrated with the above-mentioned multiple signal acquisition devices to quickly conduct training.

[0117] 3. The wet electrodes for collecting electroencephalogram signals in the brain signal analysis module can be replaced by flexible electrodes in the future. The existing wet electrodes have a cumbersome experimental process, require the application of conductive paste, and the conductive paste easily dries out over time, affecting the signal acquisition effect and the user experience. Flexible electrodes have advantages such as good conductivity, biocompatibility, high flexibility, and flexibility, making them an ideal material for electroencephalogram electrodes. Compared with wet electrodes, flexible electrodes eliminate the operation of applying conductive paste, improving the convenience of experimental operations; reducing the impact of conductive paste volatilization on the stability of electroencephalogram signal acquisition; and also reducing the discomfort of the user during the experiment to a certain extent.

[0118] Example 3

[0119] A terminal device includes: a processor, a memory, and a communication bus; a computer-readable program executable by the processor is stored on the memory; the communication bus realizes the connection and communication between the processor and the memory; when the processor executes the computer-readable program, the steps in the above-mentioned two-stage double-anchor UWB ranging information positioning method are realized.

[0120] Based on the above-mentioned two-stage double-anchor UWB ranging information positioning method, the present application provides a terminal device, as Figure 5 shown, which includes at least one processor 20; a display screen 21; and a memory 22, and may further include a communication interface 23 and a bus 24. Among them, the processor 20, the display screen 21, the memory 22, and the communication interface 23 can complete mutual communication through the bus 24. The display screen 21 is set to display a user guidance interface preset in the initial setting mode. The communication interface 23 can transmit information. The processor 20 can call the logical instructions in the memory 22 to execute the method in the above-mentioned embodiments.

[0121] In addition, when the above-mentioned logical instructions in the memory 22 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium.

[0122] The memory 22, as a computer-readable storage medium, can be set to store software programs and computer-executable programs, such as the program instructions or modules corresponding to the method in the embodiments of the present disclosure. The processor 20 executes functional applications and data processing by running the software programs, instructions, or modules stored in the memory 22, that is, the method in the above-mentioned embodiments is realized.

[0123] The memory 22 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 22 may include a high-speed random access memory and may also include a non-volatile memory. For example, various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes can also be transient storage media.

[0124] In addition, the specific processes of loading and executing multiple instructions by the above-mentioned storage medium and the instruction processor in the terminal device have been described in detail in the above method, and will not be repeated here one by one.

[0125] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A rehabilitation training method for motor imagery based on electrical stimulation-induced tactile sensation, characterized in that, The method includes: Based on an electrical stimulation command, electrically stimulate a preset stimulation site of the user, and record the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal; wherein, the electroencephalogram signal and the near-infrared signal are signals generated when the user imagines movement based on the electrical stimulation received by the stimulation site. Obtain the electromyogram signal generated by the user's face, the electroencephalogram signal generated by the brain, and the near-infrared signal. Synchronize the electromyogram signal, the electroencephalogram signal, and the near-infrared signal to generate a synchronized brain signal. Based on the analysis of the brain signal, identify and output the imagined movement action. Visually display the output imagined movement action and the activity state of the user's brain at this time.

2. The motor imagery rehabilitation training method based on electrical stimulation tactile induction according to claim 1, wherein After the step of, based on an electrical stimulation command, electrically stimulate a preset stimulation site of the user, and record the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal, the method further includes: Based on the electrical stimulation position, receive the judgment signal of the user's judgment of the stimulation position before imagined movement.

3. The method for motor imagery rehabilitation training based on electrical stimulation tactile induction according to claim 1, wherein, After the step of, based on an electrical stimulation command, electrically stimulate a preset stimulation site of the user, and record the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal, the method further includes: Based on the electrical stimulation, obtain the facial electromyogram data of the user, monitor the experimental state of the user, and assist in the processing of brain signal data.

4. The motor imagery rehabilitation training method based on electrical stimulation tactile induction according to claim 1, characterized in that Before the step of, based on the analysis of the brain signal, identify and output the imagined movement action, the method further includes: Collect the electroencephalogram signal and the cerebral blood activity signal.

5. A motor imagery rehabilitation training system based on electrical stimulation tactile induction, characterized in that, The system includes: An electrical stimulation module, which, based on an electrical stimulation command, electrically stimulates a preset stimulation site of the user; records the electromyogram signal of the user's face, the electroencephalogram signal of the brain, and the near-infrared cerebral blood activity signal, wherein, the electroencephalogram signal and the near-infrared signal are signals generated when the user imagines movement based on the electrical stimulation received by the stimulation site. A signal acquisition module, which is used to obtain the electromyogram signal generated by the user's face, the electroencephalogram signal generated by the brain, and the near-infrared signal. A synchronization module, which is used to synchronize the electromyogram signal, the electroencephalogram signal, and the near-infrared signal to generate a synchronized brain signal. A brain signal analysis module, which is used to identify and output the imagined movement action based on the analysis of the brain signal. An interface module, which is used to visually display the output imagined movement action and the activity state of the user's brain at this time.

6. The motor imagery rehabilitation training system based on electrical stimulation tactile induction according to claim 5, wherein The system further includes: A cognitive judgment module, which is used to receive the judgment signal of the user's judgment of the stimulation position before imagined movement based on the electrical stimulation position.

7. The motor imagery rehabilitation training system based on electrical stimulation tactile induction according to claim 6, characterized in that, The system further includes: An electromyogram module 2, which is used to obtain the facial electromyogram data of the user based on the electrical stimulation, monitor the experimental state of the user, and assist in the processing of brain signal data.

8. The motor imagery rehabilitation training system based on electro-stimulus tactile induction according to claim 7, wherein, The signal acquisition module includes: An electromyogram signal acquisition unit, which is used to obtain the electromyogram signal of the user's face. An electroencephalogram signal acquisition unit, which is used to obtain the electroencephalogram signal of the user's brain. An infrared signal acquisition unit, which is used to obtain the near-infrared signal of the user's brain.

9. The motor imagery rehabilitation training system based on electro-stimulus tactile induction according to claim 8, wherein The system further includes: A signal amplifier, which is used to amplify the electroencephalogram signal and then send it to the brain signal analysis module.

10. A terminal device, characterized in that, Includes: A processor, a memory, and a communication bus; A computer-readable program executable by the processor is stored on the memory; The communication bus realizes the connection and communication between the processor and the memory; When the processor executes the computer-readable program, the steps in the method for motor imagery rehabilitation training based on electrical stimulation tactile induction according to any one of claims 1-4 are realized.

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