Intelligent lower limb rehabilitation system and method based on electrical nerve stimulation and pneumatic cooperative control

Abstract

The invention relates to an intelligent lower limb rehabilitation system and method based on nerve electrical stimulation and pneumatic cooperative control, and belongs to the technical field of medical rehabilitation instruments. A nerve electrical stimulation module; a multi-sensor sensing module; the control system comprises a data processing unit, a decision-making unit and a communication unit, the data processing unit is used for processing and analyzing signals collected by the multi-sensor sensing module, and the decision-making unit is used for generating nerve electrical stimulation and pneumatic driving control instructions according to a data analysis result; the communication unit is responsible for data communication; a personalized rehabilitation scheme can be formulated according to individual differences and real-time motion states of patients, the motion states and feedback information of the patients are monitored in real time through the multi-sensor sensing module, intelligent monitoring and training scheme adjustment are carried out, the adaptive capacity and training quality and efficiency of the patients are improved, thrombus is effectively prevented, and the rehabilitation effect of the patients is improved. And good news is brought to the patients.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation devices, and specifically to an intelligent lower limb rehabilitation system and method based on the collaborative control of nerve electrical stimulation and pneumatics. Background Art

[0002] Traditional pneumatic rehabilitation devices mainly assist patients in lower limb movement through mechanical force. For example, common pneumatic leg massagers can only provide simple passive movement, lacking active stimulation of the neuromuscular system and being unable to effectively promote nerve remodeling and muscle strength recovery.

[0003] Pure nerve electrical stimulation devices, such as transcutaneous electrical nerve stimulation (TENS) devices, although they can stimulate the neuromuscular, cannot be combined with the actual movement state of the patient, have fixed stimulation parameters, and cannot be adjusted according to the real-time feedback of the patient, resulting in unsatisfactory rehabilitation effects.

[0004] The lower limb injury degrees, muscle strengths, and nerve function recovery situations of different patients vary greatly. Most existing rehabilitation devices adopt standardized rehabilitation programs and cannot perform customized training according to the individual differences of patients, leading to uneven rehabilitation effects.

[0005] Existing rehabilitation devices often lack a real-time monitoring and feedback mechanism for the patient's movement state. Doctors and patients cannot timely understand the effects and progress of rehabilitation training, making it difficult to adjust the rehabilitation program in a timely manner.

[0006] Therefore, it is necessary to improve the existing technology and propose an intelligent lower limb rehabilitation system that can perform customized training according to the individual differences of patients, combine nerve electrical stimulation and pneumatic collaborative control, and provide a detailed compound rehabilitation training program, thereby significantly improving the personalized adaptability of different patients and making it possible to finally form an efficient and high-quality rehabilitation training program. Summary of the Invention

[0007] In view of this, the purpose of the present invention is to propose an intelligent lower limb rehabilitation system and method based on the collaborative control of nerve electrical stimulation and pneumatics. By combining nerve electrical stimulation and pneumatic drive, the collaborative control of the two is achieved, and personalized rehabilitation training is performed according to the individual differences and real-time movement state of the patient, improving the effect and efficiency of lower limb rehabilitation, thereby partially or completely solving the above technical problems.

[0008] One of the present inventions is achieved through the following technical solutions:

[0009] An intelligent lower limb rehabilitation system based on the collaborative control of nerve electrical stimulation and pneumatics, comprising:

[0010] Pneumatic drive module, the pneumatic drive module includes a pneumatic cylinder assembly, a pneumatic pressure regulating device and a gas source, the pneumatic cylinder assembly is connected to the gas source through the pneumatic pressure regulating device, and the piston rod of the pneumatic cylinder assembly is connected to the lower limb rehabilitation brace for assisting the patient to perform the movement of the lower limb joints;

[0011] Neuroelectrical stimulation module, the neuroelectrical stimulation module includes electrode patches, an electrical stimulation generator and a signal conditioning circuit, the electrode patches are distributed on the surface of the main muscle groups of the lower limbs and are connected to the electrical stimulation generator through wires, and the signal conditioning circuit is used to process the myoelectric signals collected by the electrode patches;

[0012] Multi-sensor perception module, the multi-sensor perception module includes a myoelectric sensor, an angle sensor and a pressure sensor, the myoelectric sensor is used to collect the myoelectric signals of the patient's lower limb muscles, the angle sensor is used to monitor the movement angle of the lower limb joints, and the pressure sensor is used to monitor the pressure distribution between the patient and the lower limb rehabilitation brace;

[0013] Control system, the control system includes a data processing unit, a decision-making unit and a communication unit, the data processing unit is used to process and analyze the signals collected by the multi-sensor perception module, the decision-making unit generates control instructions for neuroelectrical stimulation and pneumatic drive according to the data analysis results, and the communication unit is responsible for the data communication between the control system and the pneumatic drive module and the neuroelectrical stimulation module.

[0014] Furthermore, the pneumatic pressure regulating device includes a high-precision pneumatic pressure regulating valve and a pressure sensor, and the pneumatic pressure regulating valve accurately controls the pneumatic pressure magnitude and change speed in the pneumatic cylinder according to the instructions issued by the control system.

[0015] Furthermore, the electrical stimulation generator can generate electrical stimulation signals of various waveforms and frequencies, and the electrical stimulation generator adjusts parameters such as the intensity, frequency, and pulse width of the electrical stimulation according to the instructions of the control system.

[0016] Furthermore, the data processing unit adopts advanced signal processing algorithms to extract characteristic parameters such as the amplitude, frequency, and integrated myoelectric value of the myoelectric signals, as well as characteristic parameters such as the change range and movement speed of the joint angle.

[0017] Furthermore, the decision-making unit adopts intelligent control algorithms such as fuzzy control and neural network to generate control instructions for neuroelectrical stimulation and pneumatic drive according to the data analysis results and the preset rehabilitation plan.

[0018] The second aspect of the present invention is achieved through the following technical solutions:

[0019] A lower limb rehabilitation method adopting the intelligent lower limb rehabilitation system as described above, including the following steps:

[0020] Step 1: Patient information input and rehabilitation plan formulation. The doctor inputs the patient's basic information and disease diagnosis results through the human-machine interface of the control system, and formulates a personalized rehabilitation plan according to the patient's condition and rehabilitation needs.

[0021] Step 2: Device wearing and initialization. The patient wears the lower limb rehabilitation brace, ensuring that the electrode patches and sensors are correctly installed in the corresponding positions. The control system initializes the device and checks whether the working states of each module and the communication connections are normal.

[0022] Step 3: Rehabilitation training starts. The multi-sensor perception module continuously collects the patient's electromyogram signals, joint angle signals, and pressure signals. The control system generates control instructions for neuromuscular electrical stimulation and pneumatic drive according to the collected signals and the preset rehabilitation plan. The neuromuscular electrical stimulation module and the pneumatic drive module work together according to the control instructions to assist the patient in lower limb rehabilitation training.

[0023] Step 4: Real-time monitoring and feedback adjustment. During the rehabilitation training process, the multi-sensor perception module continuously monitors the patient's movement state and feedback information. The control system dynamically adjusts the control parameters of neuromuscular electrical stimulation and pneumatic drive according to the real-time monitoring results.

[0024] Step 5: End of rehabilitation training and data storage. When the preset training time or training intensity is reached, the rehabilitation training ends. The control system stores the relevant data of this rehabilitation training in the database.

[0025] Furthermore, in the above Step 3, when the control system generates control instructions for neuromuscular electrical stimulation and pneumatic drive, fuzzy control and neural network intelligent control algorithms are adopted for dynamic adjustment according to the patient's real-time movement state and the preset rehabilitation plan.

[0026] Furthermore, in the above Step 4, when the control system dynamically adjusts the control parameters of neuromuscular electrical stimulation and pneumatic drive, factors such as the patient's muscle fatigue degree and joint movement range are comprehensively considered.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. Innovation in multi-modal collaborative control

[0029] The present invention first deeply integrates two different rehabilitation means of neuromuscular electrical stimulation and pneumatic drive, realizing their collaborative control. By real-time monitoring the patient's muscle activities and joint movement states, the parameters of neuromuscular electrical stimulation and pneumatic drive are precisely adjusted to make them cooperate with each other to jointly promote the recovery of the lower limb neuromuscular system. This multi-modal collaborative control method has not been reported in the existing rehabilitation technologies and has significant innovation.

[0030] 2. Personalized Rehabilitation Plan Customization

[0031] The present invention can formulate a personalized rehabilitation plan according to the individual differences and real-time motion states of patients. By analyzing the electromyogram signals, joint angle signals, and pressure signals of patients, the control system can accurately judge the muscle strength, nerve function, and motor ability of patients, so as to customize the intensity, time, and parameters of rehabilitation training for patients. This personalized rehabilitation plan can better meet the rehabilitation needs of patients and improve the rehabilitation effect.

[0032] 3. Intelligent Feedback and Dynamic Adjustment Mechanism

[0033] The present invention introduces an intelligent feedback and dynamic adjustment mechanism, which uses a multi-sensor perception module to continuously monitor the motion states and feedback information of patients, and dynamically adjusts the control parameters of neuromuscular electrical stimulation and pneumatic drive according to this information. This intelligent feedback and dynamic adjustment mechanism can make rehabilitation training more accurate and effective, avoiding the problem of poor rehabilitation effect caused by fixed parameters in traditional rehabilitation equipment.

[0034] In summary, the present invention creatively combines neuromuscular electrical stimulation and pneumatic drive to achieve coordinated control of the two, and conducts personalized rehabilitation training according to the individual differences and real-time motion states of patients, improving the adaptability of different individuals, significantly enhancing the effect and efficiency of lower limb rehabilitation, effectively preventing blood clots, and bringing good news to such patients. Description of the Drawings

[0035] Figure 1 is a schematic diagram of the present invention;

[0036] Figure 2 is a schematic diagram of the pneumatic drive module of the present invention;

[0037] Figure 3 is a schematic diagram of the neuromuscular electrical stimulation module of the present invention;

[0038] Figure 4 is a schematic diagram of the multi-sensor perception module of the present invention;

[0039] Figure 5 is a flowchart of the present invention.

[0040] Description of the Reference Numerals in the Drawings:

[0041] 101 - Pneumatic drive module; 101a - Pneumatic cylinder assembly; 101b - Pneumatic pressure regulating valve; 101c - Air source; 101d - Air pipe;

[0042] 102 - Neuromuscular electrical stimulation module: 102a - Flexible electrode patch; 102b - Wire; 102c - Stimulator;

[0043] 103 - Multi - sensor perception module; 103a - Electromyogram sensor; 103b - Angle sensor; 103c - Pressure sensor;

[0044] 104 - Control system. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0047] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] In the above description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "one side", "the other side", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship when the product of the present invention is usually placed. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0049] In addition, terms such as "the same" do not mean that the components are absolutely the same, but there may be slight differences. The term "vertical" only means that the positional relationship between components is more vertical relative to "parallel", and does not mean that the structure must be completely vertical, but can be slightly inclined.

[0050] As Figures 1-4 shown, an embodiment provided by the present invention: an intelligent lower - limb rehabilitation system based on the collaborative control of neural electrical stimulation and pneumatics, includes:

[0051] Pneumatic drive module, which includes a pneumatic cylinder assembly, a pneumatic pressure regulating device and a gas source. The pneumatic cylinder assembly is connected to the gas source through the pneumatic pressure regulating device, and the piston rod of the pneumatic cylinder assembly is connected to the lower limb rehabilitation brace, which is used to assist the patient in the movement of the lower limb joints;

[0052] Neural electrical stimulation module, which includes electrode patches, an electrical stimulation generator and a signal conditioning circuit. The electrode patches are distributed on the surface of the main muscle groups of the lower limbs and are connected to the electrical stimulation generator through wires. The signal conditioning circuit is used to process the myoelectric signals collected by the electrode patches;

[0053] Multi-sensor perception module, which includes a myoelectric sensor, an angle sensor and a pressure sensor. The myoelectric sensor is used to collect the myoelectric signals of the patient's lower limb muscles, the angle sensor is used to monitor the movement angle of the lower limb joints, and the pressure sensor is used to monitor the pressure distribution between the patient and the lower limb rehabilitation brace;

[0054] Control system, which includes a data processing unit, a decision-making unit and a communication unit. The data processing unit is used to process and analyze the signals collected by the multi-sensor perception module. The decision-making unit generates control instructions for neural electrical stimulation and pneumatic drive according to the data analysis results. The communication unit is responsible for data communication between the control system and the pneumatic drive module and the neural electrical stimulation module.

[0055] Furthermore, the pneumatic pressure regulating device includes a high-precision pneumatic pressure regulating valve and a pressure sensor. The pneumatic pressure regulating valve accurately controls the pneumatic pressure magnitude and change speed in the pneumatic cylinder according to the instructions issued by the control system.

[0056] Furthermore, the electrical stimulation generator can generate electrical stimulation signals of various waveforms and frequencies, and the electrical stimulation generator adjusts parameters such as the intensity, frequency, and pulse width of the electrical stimulation according to the instructions of the control system.

[0057] Furthermore, the data processing unit uses advanced signal processing algorithms to extract characteristic parameters such as the amplitude, frequency, and integrated myoelectric value of the myoelectric signals, as well as characteristic parameters such as the change range and movement speed of the joint angle.

[0058] Furthermore, the decision-making unit uses intelligent control algorithms such as fuzzy control and neural networks to generate control instructions for neural electrical stimulation and pneumatic drive according to the data analysis results and the preset rehabilitation plan.

[0059] Method for performing rehabilitation training with the above intelligent lower limb rehabilitation system:

[0060] I. First, perform installation:

[0061] 1. Installation of the pneumatic drive module

[0062] Install the air cylinder assembly at the corresponding position of the lower limb rehabilitation brace to ensure a firm connection between the piston rod and the brace.

[0063] Connect the air pressure regulating device to the air source and check whether the connection of the air pressure pipeline is tight and there is no air leakage.

[0064] Calibrate and debug the air pressure regulating device to ensure the accuracy and stability of air pressure regulation.

[0065] 2. Installation of the neuroelectrical stimulation module

[0066] Paste the electrode patches on the surface of the main muscle groups of the patient's lower limb according to the specified positions to ensure good contact between the electrodes and the skin.

[0067] Connect the electrode patches to the electrical stimulation generator and check whether the connection of the wires is normal.

[0068] Set and debug the parameters of the electrical stimulation generator to ensure that the waveform, frequency and intensity of the electrical stimulation signal meet the requirements.

[0069] 3. Installation of the multi-sensor perception module

[0070] Install the electromyogram sensor, angle sensor and pressure sensor at the corresponding positions of the lower limb rehabilitation brace to ensure accurate installation positions of the sensors and the ability to accurately collect the patient's movement information.

[0071] Connect the sensors to the control system and check whether the communication connection of the sensors is normal.

[0072] Calibrate and debug the sensors to ensure the measurement accuracy and reliability of the sensors.

[0073] 4. Installation and debugging of the control system

[0074] Install the hardware devices of the control system, including the data processing unit, decision-making unit and communication unit.

[0075] Connect the control system to the pneumatic drive module, neuroelectrical stimulation module and multi-sensor perception module and check whether the communication connection is normal.

[0076] Perform software programming and debugging on the control system to ensure that the control system can operate normally and achieve precise control of the rehabilitation training.

[0077] II. Conduct training

[0078] 1. Patient information entry and rehabilitation plan formulation

[0079] The doctor logs in to the human-computer interaction interface of the control system and enters the patient's basic information and the diagnosis result of the condition.

[0080] According to the patient's condition and rehabilitation needs, the doctor formulates a personalized rehabilitation plan in the control system, including the stages of rehabilitation training, training intensity, training time, neuromuscular electrical stimulation parameters, and pneumatic drive parameters, etc.

[0081] 2. Device Wearing and Initialization

[0082] The patient wears the lower limb rehabilitation brace to ensure that the electrode patches and sensors are correctly installed in the corresponding positions.

[0083] The control system initializes the device, checks whether the working status of each module and the communication connection are normal. If any abnormality is found, troubleshoot and repair it in time.

[0084] 3. Start of Rehabilitation Training

[0085] The multi-sensor perception module starts to collect the patient's electromyogram signals, joint angle signals, and pressure signals in real time, and transmits these signals to the data processing unit of the control system.

[0086] The data processing unit processes and analyzes the collected signals, extracts the characteristic parameters of the signals, and judges the patient's muscle activity status, joint movement conditions, and pressure distribution conditions.

[0087] The decision-making unit generates control instructions for neuromuscular electrical stimulation and pneumatic drive based on the data analysis results, combined with the preset rehabilitation plan and the patient's individual information. The control instructions are transmitted to the neuromuscular electrical stimulation module and the pneumatic drive module through the communication unit.

[0088] The neuromuscular electrical stimulation module adjusts parameters such as the intensity, frequency, and pulse width of the electrical stimulation according to the control instructions, and stimulates the main muscle groups of the lower limbs. The pneumatic drive module adjusts the air pressure in the air cylinder according to the control instructions to assist the patient in the movement of the lower limb joints, realizing the synergistic effect of neuromuscular electrical stimulation and pneumatic drive.

[0089] 4. Real-time Monitoring and Feedback Adjustment

[0090] During the rehabilitation training process, the multi-sensor perception module continuously monitors the patient's movement status and feedback information, and transmits this information to the control system again.

[0091] The control system dynamically adjusts the control parameters of neuromuscular electrical stimulation and pneumatic drive according to the real-time monitoring results. For example, if it is found that the patient's muscle fatigue degree increases, the control system can appropriately reduce the intensity of neuromuscular electrical stimulation and the air pressure of pneumatic drive; if it is found that the patient's joint movement range decreases, the control system can increase the assistance of pneumatic drive to help the patient expand the joint movement range.

[0092] 5. End of Rehabilitation Training and Data Storage

[0093] When the preset training time or training intensity is reached, the rehabilitation training ends.

[0094] The control system stores the relevant data of this rehabilitation training, such as electromyogram signals, joint angle signals, pressure signals, control parameters, etc., into the database. Doctors can view, analyze, and evaluate these data through the human-computer interaction interface of the control system to adjust the subsequent rehabilitation plan.

[0095] Furthermore, in step 3, when the control system generates the control instructions for nerve electrical stimulation and pneumatic drive, fuzzy control and neural network intelligent control algorithms are adopted for dynamic adjustment according to the patient's real-time motion state and the preset rehabilitation plan.

[0096] Furthermore, in step 4, when the control system dynamically adjusts the control parameters of nerve electrical stimulation and pneumatic drive, comprehensive consideration is given to factors such as the patient's muscle fatigue degree and joint movement range.

[0097] This embodiment introduces an intelligent feedback and dynamic adjustment mechanism. The multi-sensor perception module monitors the patient's motion state and feedback information in real time, and dynamically adjusts the control parameters of nerve electrical stimulation and pneumatic drive according to this information. This intelligent feedback and dynamic adjustment mechanism can make the rehabilitation training more accurate and effective, avoiding the problem of poor rehabilitation effect caused by fixed parameters in traditional rehabilitation equipment.

[0098] This embodiment creatively combines nerve electrical stimulation and pneumatic drive to achieve their coordinated control, and conducts personalized rehabilitation training according to the individual differences and real-time motion state of the patient, improving the adaptability of different individuals, significantly improving the effect and efficiency of lower limb rehabilitation, effectively preventing thrombosis, bringing good news to such patients, and having broad application prospects for promotion.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An intelligent lower limb rehabilitation system based on the collaborative control of neural electrical stimulation and pneumatics, characterized in that, Including: A pneumatic drive module, which includes a pneumatic cylinder assembly, a pneumatic pressure regulating device, and a gas source. The pneumatic cylinder assembly is connected to the gas source through the pneumatic pressure regulating device. The piston rod of the pneumatic cylinder assembly is connected to the lower limb rehabilitation brace and is used to assist the patient in performing lower limb joint movements; A neuroelectrical stimulation module, which includes electrode patches, an electrical stimulation generator, and a signal conditioning circuit. The electrode patches are distributed on the surfaces of the main muscle groups of the lower limbs and are connected to the electrical stimulation generator through wires. The signal conditioning circuit is used to process the myoelectric signals collected by the electrode patches; A multi-sensor perception module, which includes a myoelectric sensor, an angle sensor, and a pressure sensor. The myoelectric sensor is used to collect the myoelectric signals of the patient's lower limb muscles. The angle sensor is used to monitor the movement angles of the lower limb joints. The pressure sensor is used to monitor the pressure distribution between the patient and the lower limb rehabilitation brace; A control system, which includes a data processing unit, a decision-making unit, and a communication unit. The data processing unit is used to process and analyze the signals collected by the multi-sensor perception module. The decision-making unit generates control instructions for neuroelectrical stimulation and pneumatic drive according to the data analysis results. The communication unit is responsible for data communication between the control system and the pneumatic drive module and the neuroelectrical stimulation module.

2. The intelligent lower limb rehabilitation system according to claim 1, wherein The pneumatic pressure regulating device includes a high-precision pneumatic pressure regulating valve and a pressure sensor. The pneumatic pressure regulating valve accurately controls the pneumatic pressure magnitude and change speed in the pneumatic cylinder according to the instructions issued by the control system.

3. The intelligent lower limb rehabilitation system according to claim 1, wherein The electrical stimulation generator can generate electrical stimulation signals of various waveforms and frequencies. The electrical stimulation generator adjusts parameters such as the intensity, frequency, and pulse width of the electrical stimulation according to the instructions of the control system.

4. The intelligent lower limb rehabilitation system according to claim 1, wherein The data processing unit adopts advanced signal processing algorithms to extract characteristic parameters such as the amplitude, frequency, and integrated myoelectric value of the myoelectric signal, as well as characteristic parameters such as the change range and movement speed of the joint angle.

5. The intelligent lower limb rehabilitation system according to claim 1, characterized in that The decision-making unit adopts intelligent control algorithms such as fuzzy control and neural networks to generate control instructions for neuroelectrical stimulation and pneumatic drive according to the data analysis results and the preset rehabilitation plan.

6. A lower limb rehabilitation method adopting the intelligent lower limb rehabilitation system according to any one of claims 1-5, characterized in that, Including the following steps: Step 1: Patient information entry and rehabilitation plan formulation. The doctor enters the patient's basic information and disease diagnosis results through the human-computer interaction interface of the control system and formulates a personalized rehabilitation plan according to the patient's condition and rehabilitation needs; Step 2: Equipment wearing and initialization. The patient wears the lower limb rehabilitation brace to ensure that the electrode patches and sensors are correctly installed in the corresponding positions. The control system initializes the equipment and checks whether the working states of each module and the communication connections are normal; Step 3: Rehabilitation training starts. The multi-sensor perception module real-time collects the patient's myoelectric signals, joint angle signals, and pressure signals. The control system generates control instructions for neuroelectrical stimulation and pneumatic drive according to the collected signals and the preset rehabilitation plan. The neuroelectrical stimulation module and the pneumatic drive module work together according to the control instructions to assist the patient in performing lower limb rehabilitation training; Step 4: Real-time monitoring and feedback adjustment. During the rehabilitation training process, the multi-sensor perception module continuously monitors the patient's motion state and feedback information. The control system dynamically adjusts the control parameters of the neuromuscular electrical stimulation and pneumatic drive according to the real-time monitoring results. Step 5: End of rehabilitation training and data storage. When the preset training time or training intensity is reached, the rehabilitation training ends, and the control system stores the relevant data of this rehabilitation training in the database.

7. The intelligent lower limb rehabilitation method according to claim 6, wherein In the said Step 3, when the control system generates the control instructions for the neuromuscular electrical stimulation and pneumatic drive, fuzzy control and neural network intelligent control algorithms are adopted for dynamic adjustment according to the patient's real-time motion state and the preset rehabilitation plan.

8. The intelligent lower limb rehabilitation method according to claim 6, wherein In the said Step 4, when the control system dynamically adjusts the control parameters of the neuromuscular electrical stimulation and pneumatic drive, comprehensive consideration is given to factors such as the patient's muscle fatigue degree and joint motion range.

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