Dysphagia rehabilitation training device and control method thereof

Abstract

The invention relates to the technical field of rehabilitation instruments, in particular to a dysphagia rehabilitation training device and a control method thereof. The device comprises an air pump and a training assembly which are connected through an air pipe, wherein the training assembly comprises a plurality of air bags; a first pressure sensor is arranged on the surface of the training assembly, the first pressure sensor is used for collecting first pressure, and the first pressure represents tongue pressure of a user; the second pressure sensor is used for collecting second pressure, and the second pressure represents the pressure in the air bag; the electromagnetic valve is used for controlling the flow and on-off of gas in the gas pipe; the controller is connected with the air pump, the electromagnetic valve, the first pressure sensor and the second pressure sensor and used for controlling the pressure in any air bag. According to the device, partitioned training of the tongue of the user can be achieved, and the rehabilitation effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation devices. More specifically, the present invention relates to a rehabilitation training device for dysphagia and its control method. Background Art

[0002] Dysphagia refers to a group of syndromes in which, due to structural and / or functional impairments of organs such as the mandible, lips, tongue, soft palate, pharynx, and esophagus, difficulties occur in the oral preparation, oral transport, pharyngeal, and esophageal stages of food, and food cannot be safely and effectively transported into the stomach. Dysphagia can affect food intake and nutrient absorption, and can also cause food to be aspirated into the trachea, leading to aspiration pneumonia. In severe cases, it can endanger life.

[0003] However, most of the existing rehabilitation training devices are based on manual operation, lacking automation and intelligence, and are also unable to accurately measure the pressure conditions of various parts of the tongue (such as the front part of the tongue, the middle part of the tongue, the rear part of the tongue, etc.). Moreover, it is difficult for users to conduct targeted training for weak parts, resulting in general training effects.

[0004] Therefore, how to assist users in conducting targeted training according to the ability of the patient's tongue muscles is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0005] To solve the above technical problem of being unable to conduct targeted training according to the ability of the patient's tongue muscles, the present invention provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides a rehabilitation training device for dysphagia, including: a gas pump and a training component connected by a trachea, the training component including a plurality of airbags; a first pressure sensor is arranged on the surface of the training component, the first pressure sensor is used to collect a first pressure, and the first pressure represents the tongue pressure of the user; a second pressure sensor, the second pressure sensor is used to collect a second pressure, and the second pressure represents the pressure in the airbag; a solenoid valve, the solenoid valve is used to control the flow rate and on / off of the gas in the trachea; a controller, the controller is connected to the gas pump, the solenoid valve, the first pressure sensor, and the second pressure sensor, and is used to control the pressure in any one of the airbags.

[0007] Further, the controller includes a correction module and a display module, the correction module is connected to the display module, wherein, the correction module is used to correct the influence of saliva on the tongue pressure, and the display module is used to display the pressure heat map of the user.

[0008] Further, the device further includes an alarm, and the alarm is connected to the controller.

[0009] Further, the alarm is a buzzer or a speaker.

[0010] Further, the first pressure sensor is a flexible matrix sensor or a capacitive sensor.

[0011] In a second aspect, the present invention provides a control method for a dysphagia rehabilitation training device according to any one of the first aspect. The dysphagia rehabilitation training device further includes a second pressure sensor for collecting the pressure in the target airbag. The method includes: obtaining the first pressure during the user's training collected by the first pressure sensor and the second pressure during the user's training collected by the second pressure sensor; in response to the training mode being self-feedback training, controlling the air pump and the solenoid valve to work according to the difference between the first pressure and the second pressure, so that the pressure value in the target airbag reaches a set value.

[0012] Further, the method further includes: in response to the training mode being active training, determining a target pressure according to the maximum tongue pressure, and controlling the solenoid valve and the air pump to make the pressure in the target airbag reach the target pressure. The target pressure is positively correlated with the maximum tongue pressure, and the maximum tongue pressure represents the maximum pressure value when the user presses the tongue against the target airbag with force.

[0013] Further, the method further includes: in response to the training mode being passive training, adjusting the pressure value in the target airbag at a preset speed based on the maximum tongue pressure.

[0014] Further, after collecting the first pressure, it further includes: calibrating the first pressure based on Kalman filtering.

[0015] Further, the method further includes: if it is monitored that the first pressure remains unchanged within a preset time, triggering an alarm for an abnormal situation.

[0016] The beneficial effects of the present invention are as follows: The device of the present invention can accurately measure the tongue pressure and can also achieve zonal training of the user's tongue. In addition, multiple training modes are provided, which can meet the training needs of different users, improve the training effect. Especially in the self-feedback mode, it can dynamically adjust the training intensity according to the user's real-time situation to ensure that the user can perform safe and effective training. Further, calibrating the collected tongue pressure can avoid the signal drift problem caused by saliva, thereby improving the accuracy of measuring and evaluating the user's tongue pressure. Further, in response to abnormal situations during the user's training, such as tongue cramps, an alarm can be triggered in time to ensure the safety of the user's training. Description of the Drawings

[0017] Figure 1is a structural block diagram schematically showing a dysphagia rehabilitation training device according to an embodiment of the present invention;

[0018] Figure 2 is a structural block diagram schematically showing a dysphagia rehabilitation training device according to another embodiment of the present invention;

[0019] Figure 3 is a flowchart schematically showing a control method based on a dysphagia rehabilitation training device according to an embodiment of the present invention. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0021] Next, the specific implementation manners of the present invention will be described in detail in conjunction with the accompanying drawings.

[0022] Dysphagia affects food intake and nutrient absorption, and also causes food to be accidentally aspirated into the trachea, leading to aspiration pneumonia. In severe cases, it can endanger life. Most of the existing dysphagia training devices can only train the entire tongue of the user. Since the degree of impairment of each part of the tongue is not necessarily the same, effective training of the weak areas cannot be achieved by training the entire tongue, thus prolonging the training time. Moreover, the existing devices have poor versatility, cannot meet the training needs of different users, and cannot adjust the training intensity in real time according to the actual situation of the users.

[0023] In view of this, in the first aspect, the present invention provides a dysphagia rehabilitation training device, as Figure 1 shown, the dysphagia rehabilitation training device of the present invention includes: a training component, a trachea, an air pump, a solenoid valve, a first pressure sensor, a second pressure sensor, and a controller. This device can be used for the active and passive training of the tongue / tongue muscles to assist the user in restoring the swallowing function.

[0024] The training component is connected to the air pump through the trachea. Specifically, the training component includes a plurality of independent airbags, and the airbags can be made of food-grade silica gel. The training component composed of these airbags can cover the front, middle, and rear parts of the tongue, so as to collect the complete tongue muscle pressure (tongue pressure / lingual pressure). In addition, by allowing the user to select one or more airbags according to needs, zonal training and targeted training of the tongue muscles can be realized, avoiding the problem that the existing devices can only perform training on the entire tongue, thereby improving the training effect of the user.

[0025] It should be noted that the number of airbags is the same as the number of tracheas. In one embodiment, the training component consists of four airbags. Therefore, four tracheas are correspondingly provided (as Figure 2 shown). Specifically, one end of each of these four tracheas is respectively connected to the corresponding airbag, and the other ends are merged into the same main trachea (formed integrally, that is, one trachea is provided with four branch tracheas) and then connected to the air pump. In another embodiment, these four tracheas may not be merged into the main trachea, that is, they are respectively and independently connected to the air pump. It should be noted that Figure 2 the trachea connected to one end of the 4-head airbag actually contains 4 separate tracheas, so as to realize the control of the pressure in different airbags.

[0026] Furthermore, an electromagnetic valve is correspondingly provided for each trachea (that is, the number of airbags is the same as the number of electromagnetic valves). The electromagnetic valve is used to control the flow rate and on / off of the gas in the trachea, so as to realize the individual control of the pressure in any one airbag. By means of the electromagnetic valve, the control of the pressure magnitude in any one airbag is realized, which can meet the training needs of different users. Specifically, those with weaker tongue muscle ability can reduce the pressure in the corresponding airbag, and those with stronger tongue muscle ability can increase the pressure in the airbag. In an alternative embodiment, those skilled in the art can select a suitable flow controller according to actual needs.

[0027] The first pressure sensor is encapsulated with food-grade silica gel and can be arranged on the outer surface or the inner surface of the training component, and is used to collect the pressure received by the training component, that is, the tongue pressure of the user. Furthermore, the first pressure sensor has multiple pressure sampling points to realize the collection of the complete pressure of the user's tongue. In one embodiment, the first pressure sensor can be a flexible matrix sensor. In an alternative embodiment, those skilled in the art can select a suitable sensor according to actual needs, such as a capacitive sensor.

[0028] The second pressure sensor is used to collect the pressure in the airbag, that is, the inflation degree or hardness of the airbag, so as to be able to adjust the airbag to the target pressure value according to the current pressure value of the airbag. In an alternative embodiment, the number of the second pressure sensors can be set to be the same as the number of airbags.

[0029] Furthermore, the air pump, the electromagnetic valve, the first pressure sensor, and the second pressure sensor are all connected to the controller, so as to be able to realize the control of the pressure in the airbag and the collection, processing, display, etc. of the pressure data (including the data collected by the first pressure sensor and the data collected by the second pressure sensor).

[0030] In one embodiment, the controller includes a signal conversion module, a correction module, and a display module, which are connected in sequence. The signal conversion module is used to convert analog signals into digital signals, and the correction module is used to filter and correct the collected tongue pressure data. In one embodiment, the correction module uses Kalman filtering to solve the signal drift problem caused by saliva, thereby improving the reliability and accuracy of the obtained tongue pressure data. The specific processing process is referred to below and will not be elaborated here.

[0031] Furthermore, the display module is used to display the pressure heat map of the user's tongue pressure. Through the pressure heat map, the user can intuitively and clearly understand their tongue muscle ability, and thus can use this device for selective training and focused training according to the designed ability, thereby improving the rehabilitation effect.

[0032] In addition, the controller further includes a power module and a Bluetooth module. The power module is used to supply power to the air pump, solenoid valve, etc., and the Bluetooth module is used for communication.

[0033] In one embodiment, the training device of the present invention further includes: an alarm, which is connected to the controller. Specifically, the alarm can be a speaker, a buzzer, an audible and visual alarm, or an LED, etc. During the training process, when it is detected that the user's tongue pressure has not changed for a period of time, the alarm is triggered, and the alarm method can be a speaker broadcast, a buzzer sounding continuously, an LED lighting up red or flashing red, etc., so that medical staff can confirm whether the patient has an accident (such as a tongue cramp), thereby ensuring the safety of the user during training.

[0034] In one embodiment, gold nanowire electrodes can be used to ensure the long-term stability of the pressure sensor, photolithography technology can be used to fabricate cross-layer interconnecting wires, and in addition, a micro lithium battery can be used for wireless power supply.

[0035] When using this device, the training component is placed under the tongue, and the user presses the tongue forcefully against the training component. At this time, the first pressure sensor collects the pressure of each part of the tongue and transmits it to the controller. The controller processes the tongue pressure data and displays it in the form of a pressure heat map. Then the user can select active training, self-feedback training, or passive training on the controller through the pressure heat map. Furthermore, the user selects the airbag to be used according to actual needs, and the device deflates the unused airbags. During the training process, the user can observe in real time whether their training is reasonable through the pressure heat map.

[0036] When the user needs to perform active training, first select the airbag to be used according to the actual needs (i.e., the target airbag), then manually set the pressure of the target airbag or use the target pressure recommended by the system (calculated based on the maximum tongue pressure), and then the device controls the air pump and solenoid valve to work, so that the target airbag reaches the target pressure, and deflates other airbags (airbags except the target airbag), and then the user performs active training based on the target airbag. By selecting the target airbag according to the actual needs, it is possible to train different regions of the tongue separately, thereby improving the training effect and shortening the rehabilitation time.

[0037] When the user needs to perform self-feedback training, also first select the airbag to be used, and then the system dynamically adjusts the pressure value of the target airbag through the air pump and solenoid valve according to the pressure data (maximum tongue pressure) during the evaluation and the real-time tongue pressure during the training process. By dynamically adjusting the pressure value in the target airbag according to the actual situation of the user, it can ensure that the user is always training at an appropriate training intensity, avoiding the problem that the tongue becomes fatigued after a period of training but is still training at a relatively high intensity, thereby ensuring the reliability and safety of the training.

[0038] When the user needs to perform passive training, according to the maximum tongue pressure during the evaluation, control the solenoid valve and air pump to make the airbag inflate and deflate at a certain speed. It can be understood that during the training process, the pressure of the target airbag is constantly changing, thereby driving the up and down movement of the user's tongue, which can gradually improve the range of motion of the tongue and enhance the strength of the tongue muscles, and is suitable for users with relatively severe tongue disorders and relaxation training. In addition, the inflation and deflation speed of the target airbag can also be set manually, so as to meet the needs of different users.

[0039] In summary, the training device of the present invention can not only train different parts of the tongue, improve the rehabilitation effect of the training, but also select different training methods (active training, self-feedback training, passive training), so as to meet the training needs of different users and has strong versatility. In addition, by setting an alarm, abnormal situations during the training process can be detected in time, ensuring the training safety of the user.

[0040] In a second aspect, the present invention provides a control method for a swallowing disorder rehabilitation training device as described in the first aspect, as Figure 3 shown, the method of the present invention includes:

[0041] S101. Collect the maximum tongue pressure of the user, the first pressure and the second pressure during the training process.

[0042] Specifically, the user selects an evaluation mode on the controller, then puts the training component into the mouth and presses the tongue forcefully against the training component. At this time, the first pressure sensor collects data. In one embodiment, the maximum pressure value collected at each pressure sampling point can be used as the user's maximum tongue pressure, and it is displayed on the display screen in the form of a pressure heat map. Further, the maximum pressure value, minimum pressure value, average pressure value, etc. of the tongue area corresponding to different airbags can also be viewed. By displaying the pressure heat map, the user can intuitively and clearly understand the obstacles in different positions of their tongue, and then can focus on training the weak parts.

[0043] In one embodiment, normal tongue pressure can also be collected. Specifically, when the user places the tongue on the training component and applies normal force in a relaxed state, the pressure collected at this time is the normal tongue pressure. After collecting the normal tongue pressure, the user's normal tongue pressure, the tongue pressure of a corresponding normal person (of the same age and gender as the user), and the difference between the two can be displayed, so that the user can clarify their rehabilitation progress and rehabilitation goals. In addition, if there is historical data, the normal tongue pressures of the recent several times are displayed, so that the user can clarify their training effect.

[0044] It should be noted that when collecting the maximum tongue pressure and normal tongue pressure, the airbag is in a fully inflated state. In addition, the first pressure represents the pressure value collected by the first pressure sensor when the tongue presses on the target airbag, and the second pressure represents the pressure value inside the target airbag collected by the second pressure sensor.

[0045] In one embodiment, after collecting the tongue pressure (including the maximum tongue pressure, normal tongue pressure, and tongue pressure during training), it further includes: calibrating the tongue pressure based on Kalman filtering (implemented by a correction module).

[0046] First, prediction is performed, including x k = Fx k-1 state prediction and P k-1 = FP k-1 F T + Q error covariance prediction, x k is the filtered output at the current calibration moment, x k-1 is the filtered output at the previous calibration moment, F is the transition matrix, used to describe the change trend of the signal; Q is the process noise, used to reflect the uncertainty of the model, such as the drift rate.

[0047] Then measurement update is performed, including the Kalman gain K k = P k - H T (HP K - H T + R)-1 and state correction x k = x k - + K k (z k - Hx k - ), where H is the observation matrix of the sensor model, R is the observation noise of the short - term noise of the first pressure sensor, and z k is the reading of the first pressure sensor at the current calibration moment.

[0048] Furthermore, take the observed value at the calibration moment as the true value z cal , and forcefully reset the current state x of the Kalman filter K to eliminate the cumulative drift error at the previous calibration moment. Further, judge whether the residual (∈ c = z cal - Hx K - ) is greater than a preset threshold. If so, it indicates that the drift is serious, then increase the process noise Q or decrease the observation noise R to make the filter trust the calibration data more. Finally, estimate the drift model parameters. In one embodiment, the drift rate can be fitted through calibration data and the state equation is updated as follows:

[0049] d k = d k-1 + βΔt + w k ;

[0050] In the formula, d k is the drift term at the current calibration moment, d k-1 is the drift term at the previous calibration moment, Δt is the difference between the current calibration moment and the previous calibration moment (in this embodiment, it is 1 hour), w k is a constant, and β is the drift rate, which can be updated by the least - squares method or Gaussian estimation.

[0051] By calibrating the tongue pressure, the influence of saliva on signal drift can be avoided, thereby improving the accuracy and reliability of tongue pressure measurement and evaluation.

[0052] S102. Control the pressure value in the target airbag according to the training mode selected by the user.

[0053] Specifically, the user can select the training mode according to actual needs. In this embodiment, the training modes include active training, self - feedback training, and passive training. Among them, active training means that the inflation degree of the target airbag remains fixed, and the user provides the power for training during training; self - feedback training means that the inflation degree of the target airbag changes, and the user provides the power for training during training; passive training means that the inflation degree of the target airbag changes, and the airbag provides the power during training.

[0054] In the active training mode, the user selects the airbags to be used according to requirements (the target airbag can be one or more), and sets the pressure value of the airbag. Specifically, the electromagnetic valve and the air pump are controlled to inflate and deflate the target airbag so that the pressure in the target airbag reaches the specified value, and the unused airbags are deflated. In addition, the user can also use the target pressure of the target airbag automatically generated by the system. In one embodiment, the target pressure automatically generated by the system can be determined according to the maximum tongue pressure, and the target pressure is positively correlated with the maximum tongue pressure. Specifically, the maximum pressure value (maximum tongue pressure) collected at each pressure sampling point corresponding to the target airbag is determined, and then the average value is calculated. A certain proportion (such as 85%, 90%) of the average value is used as the target pressure, and then the target airbag is inflated and deflated so that the pressure in the target airbag reaches the target pressure.

[0055] By setting the target pressure according to the user's maximum tongue pressure, it is possible to ensure that the user conducts effective training, avoid the problem that setting the pressure value too large is likely to cause fatigue, and also avoid the problems of insufficient training and insufficient stimulation of the tongue muscles caused by setting the pressure value too small. Moreover, it is possible to train any part of the tongue, avoiding the problem that the traditional method can only train the entire tongue, and improving the rehabilitation effect.

[0056] In the self-feedback mode, the user selects the airbags to be used according to requirements, and then the system adjusts the pressure value in the target airbag according to the difference between the first pressure and the second pressure during the training process so that the target airbag reaches the set value, and the set value is positively correlated with the first pressure. Specifically, the first pressure is multiplied by the adjustment coefficient to obtain the reference tongue pressure (set value), and it is judged whether the reference tongue pressure is equal to the second pressure; if so, no inflation and deflation treatment is performed on the target airbag, and if not, inflation and deflation treatment is performed on the target airbag so that the pressure in the target airbag is consistent with the reference tongue pressure. That is, if the reference tongue pressure is greater than the second pressure, the air pump and the electromagnetic valve are controlled to inflate the target airbag until the pressure in the target airbag is consistent with the reference tongue pressure; if the reference tongue pressure is less than the second pressure, the air pump and the electromagnetic valve are controlled to deflate the target airbag until the pressure in the target airbag is consistent with the reference tongue pressure.

[0057] Among them, the adjustment coefficient is greater than 1, and in one embodiment, it can be 1.2. In addition, the adjustment period of the pressure value in the target airbag is once every 50 ms. In an alternative embodiment, those skilled in the art can set the adjustment coefficient and the adjustment period according to actual needs.

[0058] By dynamically adjusting the pressure value of the target airbag according to the actual situation of the user, it can ensure that the user is always training within an appropriate training intensity, adapt to the user's needs, avoid the problem of still training at a relatively high training intensity after fatigue, and improve the safety and reliability of training. At the same time, by setting the pressure value of the airbag according to the actual situation of the user, it can ensure that the weak parts of the user can be fully trained and focused on training, realizing the zonal training of the tongue and improving the rehabilitation effect of the weak parts of the user.

[0059] In the passive training mode, according to the maximum tongue pressure, adjust the pressure value in the target airbag at a preset speed. Specifically, during training, control the air pump and solenoid valve to inflate the target airbag from no air to the maximum tongue pressure or preset value, and then control the air pump and solenoid valve to deflate the target airbag from the maximum tongue pressure or preset value to no air, and repeat this process, so as to drive the tongue of users with a greater degree of impairment to move, gradually increasing the range of tongue movement and enhancing the strength of the tongue muscles.

[0060] In an alternative embodiment, other training modes can also be set, such as progressive training and random training. In progressive training, the pressure range formed by the normal tongue pressure and the maximum tongue pressure is divided into a certain number of segments (for example, divided into 5 segments), and then the specified duration is trained in each segment, and after the training is completed, the training of the next segment is carried out. In one embodiment, training can start from the maximum tongue pressure first, which can avoid the situation of premature fatigue. Random training is to randomly use an interval for training.

[0061] By setting different training modes for different users, it can meet the training needs of different users, ensure that users get sufficient training, and improve the training effect.

[0062] Furthermore, the method of the present invention further includes: if it is monitored that the first pressure remains unchanged within a preset time, trigger an alarm for an abnormal situation, and at the same time perform a deflation process on the target airbag. It should be noted that if the user selects multiple airbags for training, as long as there is a tongue pressure corresponding to one airbag that remains unchanged within this preset time, the system immediately issues a control instruction to make the alarm sound to remind relevant personnel that the user may have an abnormal situation (such as tongue cramps). By real-time monitoring whether the tongue pressure of the user remains unchanged, it can timely handle abnormal situations, thereby improving the safety of training.

[0063] Furthermore, the method of the present invention further includes: in response to the end of training, generate a training report, which contains detailed training data of the user, such as normal tongue pressure, maximum tongue pressure, pressure value of the target airbag, etc. Through this training report, the user can clarify their training situation and training effect, so as to provide a reference for the adjustment and optimization of the next training.

[0064] In the description of this specification, the meaning of "a plurality" is at least two, such as two, three or more, etc., unless otherwise specifically defined. In addition, the step division of the above method is only for clear description, and when implemented, it can be combined into one step or some steps can be split and decomposed into multiple steps, as long as the same logical relationship is included.

[0065] Although this specification has shown and described multiple embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will think of many changes, alterations and alternative ways without departing from the spirit and idea of the present invention. It should be understood that various alternative solutions to the embodiments of the present invention described herein can be adopted in the practice of the present invention.

Claims

1. A rehabilitation training device for dysphagia, characterized in that, Comprising: An air pump and a training component connected by a trachea, the training component including a plurality of air bags; A first pressure sensor is arranged on the surface of the training component, and the first pressure sensor is used to collect a first pressure, and the first pressure characterizes the tongue pressure of the user; A second pressure sensor, the second pressure sensor is used to collect a second pressure, and the second pressure characterizes the pressure in the air bag; A solenoid valve, the solenoid valve is used to control the flow rate and on / off of the gas in the trachea; A controller, the controller is connected to the air pump, the solenoid valve, the first pressure sensor, and the second pressure sensor, and is used to control the pressure in any one of the air bags.

2. The swallowing disorder rehabilitation training device according to claim 1, wherein, The controller includes a correction module and a display module, the correction module is connected to the display module, wherein, the correction module is used to correct the influence of saliva on the tongue pressure, and the display module is used to display the pressure heat map of the user.

3. The swallowing disorder rehabilitation training device according to claim 1, wherein It further includes an alarm, and the alarm is connected to the controller.

4. The swallowing disorder rehabilitation training device according to claim 3, characterized in that, The alarm is a buzzer or a speaker.

5. The dysphagia rehabilitation training device according to claim 1, wherein, The first pressure sensor is a flexible matrix sensor or a capacitive sensor.

6. A control method for a dysphagia rehabilitation training device according to claim 1, characterized in that, The method includes: Obtaining the first pressure during the user's training collected by the first pressure sensor, and the second pressure during the user's training collected by the second pressure sensor; In response to the training mode being self-feedback training, according to the difference between the first pressure and the second pressure, controlling the air pump and the solenoid valve to work, so that the pressure value in the target air bag reaches a set value.

7. The control method of the dysphagia rehabilitation training device according to claim 6, characterized in that, It further includes: In response to the training mode being active training, determining a target pressure according to the limit tongue pressure, and controlling the solenoid valve and the air pump to make the pressure in the target air bag reach the target pressure, the target pressure is positively correlated with the limit tongue pressure, and the limit tongue pressure characterizes the maximum pressure value when the user presses the tongue against the target air bag with force.

8. The control method of the dysphagia rehabilitation training device according to claim 7, characterized in that It further includes: In response to the training mode being passive training, based on the limit tongue pressure, adjusting the pressure value in the target air bag at a preset speed.

9. The control method of the dysphagia rehabilitation training device according to claim 6, characterized in that, After collecting the first pressure, it further includes: calibrating the first pressure based on Kalman filtering.

10. The control method of the dysphagia rehabilitation training device according to claim 6, characterized in that, It further includes: If it is monitored that the first pressure remains unchanged within a preset time, triggering an alarm for an abnormal situation.

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