128 results about "Lower limb muscle" patented technology

The invention provides a lower limb and gravity center dynamic balance posture early warning method based on a body measurement all-in-one machine, and the method comprises the steps: obtaining a pelvis forward inclination angle, an arch height and a gravity center position under a standard standing posture, taking the pelvis forward inclination angle, the arch height and the gravity center position as individualized baseline data, and carrying out the statistical analysis of the baseline data, and generating a dynamic balance reference value reflecting the normal balance capability of an individual; on the basis of the dynamic balance reference value, in combination with a gravity center forward trend and a lower limb muscle compensation mode, a balance offset index in standing posture change is calculated through a time sequence analysis algorithm, and a dynamic balance risk assessment result is obtained; and if a dynamic balance risk assessment result exceeds a danger threshold, clustering analysis is carried out on associated parameters of the pelvic forward inclination angle and the arch height, grouping processing is carried out on the associated parameters, and potential reasons causing balance capability degradation are identified.

The invention discloses a lower limb muscle fatigue assessment method and system based on multi-modal physiological signals, and relates to the technical field of biomedical engineering, target muscles are selected, sEMG signals, AUS signals and respiratory flux VE data are synchronously collected, and RPE is recorded; preprocessing various signals to remove interference and abnormal points; extracting sEMG time-frequency domain features and AUS muscle thickness features; fusing features and constructing vectors in a standardized manner; dividing five fatigue grades; and a data set is divided according to stratified sampling, a model is optimized through five-fold cross validation, and real-time features are input to output a fatigue level. Multi-modal physiological signals are fused, fatigue evaluation accuracy is improved, different fatigue stages are finely adapted, muscle load and energy consumption are reduced through personalized adaption and a dynamic adjustment strategy, rehabilitation training safety and comfort are improved, and efficient recovery of lower limb movement functions is assisted.

The invention discloses a lower limb muscle fatigue state recognition method and system based on multi-modal feature fusion, and the method comprises the following steps: S1, arranging a multi-modal sensor on a to-be-detected object, and carrying out the signal collection through the multi-modal sensor; bioelectricity signals, muscle form information and force position information are obtained through a multi-mode sensor; and S2, obtaining a fatigue state through a fatigue state recognition model according to the bio-electricity signal, the muscle form information and the force position information. The invention discloses a lower limb muscle fatigue state recognition method and system based on multi-modal feature fusion. The method and system have the advantages of being high in detection precision, fast in dynamic response and high in anti-interference performance.

The invention discloses a PID (Proportion Integration Differentiation) electrical stimulation balance rehabilitation method based on a damage synergistic effect. According to the method, firstly, myoelectricity and IMU joint movement data of a healthy subject on a disturbance platform are collected, non-negative matrix factorization (NMF) is conducted on the myoelectricity data, and the muscle synergistic effect of the healthy subject under a disturbance normal form is solved; myoelectricity and IMU signals of stroke patients in the same disturbance normal form are collected, nonnegative matrix factorization is carried out on the myoelectricity of the patients, and similarity analysis is carried out on the health synergistic effect and the patient synergistic effect to determine the injury synergistic effect. The injury synergistic effect is applied to adjustment of electrical stimulation pulse width parameters and used for conducting electrical stimulation on lower limb muscles, joint angle data are collected in real time, PID electrical stimulation control based on the injury synergistic effect is achieved, and therefore a patient can track a joint angle track of a healthy subject under a disturbance normal form. The patient is assisted to recover the injury synergistic effect under the disturbance normal form, the balance capacity is improved, and a new path is developed for rehabilitation treatment of the stroke patient.

The invention discloses an elderly lower limb rehabilitation training assessment method and system based on enhanced training, and relates to the technical field of intelligent exercise rehabilitation assessment, and the method comprises the following steps: S100, building an individual rhythm observation system, continuously collecting lower limb muscle contraction rhythms and stride rhythms, generating a rhythm data set, and storing the rhythm data set; a complete rhythm fingerprint band is extracted from the rhythm data set to serve as a benchmark reference for frequency regulation and control; and S200, performing micro-amplitude frequency sweeping based on the rhythm fingerprint band, analyzing rhythm data changes in real time, identifying fine vibration peak characteristics in rhythms, calibrating a phase overlapping region, and generating a rhythm segment. According to the method, through the steps of rhythm fingerprint construction, risk rhythm recognition, buffering and energy dissipation introduction and the like, dynamic regulation and control of the lower limb rehabilitation training rhythm of the old people are achieved, high-frequency resonance is avoided, the injury risk is reduced, and the training safety and the individual rhythm adaptability are improved.

The invention provides a gait camouflage method for resisting biological recognition. The gait camouflage method comprises the following steps: wearing a gait camouflage device on a key part of a user; the method comprises the following steps: acquiring acceleration characteristics, angular velocity characteristics and magnetic field signal data of a user through a gait camouflage device, fusing the acceleration characteristics, the angular velocity characteristics and the magnetic field signal data to form a super vector, and performing time sequence coding to obtain a sample super vector of a current time slice; calculating the Hamming distance between the sample supervector and the reference supervector in the subspace, and taking the Hamming distance as a classification basis; optimizing an electrical stimulation intervention strategy based on the gait recognition model; through functional electrical stimulation regulation and control of specific lower limb muscles, joint motion angles are influenced, space-time and kinematics parameters of gaits are changed, and thus gait characteristics with a camouflage effect are realized. Electrical stimulation is applied to lower limb muscles according to different gait stages, so that human gait features are effectively changed, and the gait camouflage target is achieved; by analyzing gait parameter differences under different camera visual angles, an intervention mode of maximizing gait changes is selected, and gait features can be effectively camouflaged.

A lower limb auxiliary mobile rehabilitation device includes an omnidirectional mobile chassis, a support mechanism and a lower limb auxiliary movement mechanism; the omnidirectional mobile chassis is an overall U-shaped structure, and the support mechanism is arranged just above the middle of the U-shaped bottom edge of the omnidirectional mobile chassis; the lower limb auxiliary movement mechanism is hoisted on the support mechanism, and the lower limb auxiliary movement mechanism can adapt to patients of different heights. In the early stage of rehabilitation training, a passive training mode can be performed. As the rehabilitation training proceeds, when the patient's hemiplegic leg strength gradually recovers, it can gradually transition to an active training mode. The lower limb auxiliary mobile rehabilitation device of the present invention has the characteristics of simple structure, easy use, and the ability to independently realize lower limb rehabilitation training. During the rehabilitation training process, it can assist patients to realize forward, backward, turning and other movements, can guide the patient's hemiplegic leg movement with a scientific gait, and exercise the patient's lower limb muscles through daily walking exercises to accelerate the recovery of the patient's normal walking function.

The invention discloses a lower limb rehabilitation robot control method and system based on electromyographic signals, and belongs to the technical field of medical rehabilitation instruments.The method comprises the steps that the electromyographic signals of lower limb muscles of all parts of a user when the user uses a lower limb rehabilitation robot are collected in real time, and the electromyographic signals are preprocessed; the electromyographic signal features of the electromyographic signals are input into the trained DE fused GA-SVM algorithm classification and recognition model, the gait cycle stage is determined, main force exerting muscles in the gait cycle stage are selected, and the muscle force level, needing to be compensated, of the main force exerting muscles is output. According to the method, the problem that the lower limb muscle activation levels of different gait phases are different is considered, the current gait cycle stage of a user is judged firstly, muscle force compensation is conducted on the muscles mainly exerting force at different stages, a patient can conduct active rehabilitation training, the muscle force training efficiency of the patient can be improved, and the rehabilitation training efficiency of the patient is improved. And a better rehabilitation training effect is achieved.

The invention discloses a lower limb muscle force deep learning model evaluation method based on high-density electromyographic signals. The method comprises the steps that S1, the lower limb electromyographic signals of a human body are obtained through wearable monitoring equipment and converted into discharge time sequence data; s2, a deep learning hybrid model containing a convolutional neural network CNN and a recurrent neural network LSTM is constructed, a lower limb muscle strength sample database is constructed, the lower limb muscle strength sample database comprises lower limb muscle strength sample data and corresponding lower limb muscle strength label data, and the deep learning hybrid model performs model training by using the lower limb muscle strength sample database; and S3, obtaining discharge time sequence data of a to-be-detected human body, inputting the trained deep learning hybrid model, and outputting lower limb muscle force data of the to-be-detected human body. The lower limb muscle strength data and the lower limb muscle strength level can be accurately predicted and evaluated by acquiring the lower limb muscle electric signals in a contact non-destructive mode, and level-stage quantitative evaluation can be conveniently carried out in clinical diagnosis and rehabilitation training.

The invention discloses a lower limb rehabilitation training system with signal feedback and a control method thereof, and the system comprises a control module, a pressure sensor, an angle sensor, a myoelectricity sensor, a display terminal, an electrical stimulation module and an execution module. The control module is connected with the pressure sensor, the angle sensor, the myoelectricity sensor, the display terminal, the electrical stimulation module and the execution module. One end of the pressure sensor is fixedly connected with the knee joint mechanism, the other end of the pressure sensor is connected with the executing mechanism through the transmission mechanism, the angle sensor is arranged at the turning point position of the knee joint mechanism, and the myoelectricity sensor is arranged on the surface of a lower limb body. The signal intensity of the myoelectricity sensor and the signal intensity of the pressure sensor are monitored and compared with set safety values, an ideal lower limb rehabilitation training state is achieved, the rehabilitation training effect of a patient can be guaranteed, and the training safety of the patient can be improved.

1. The name of this design product: Massager. 2. Purpose of this product design: used for stretching exercises of upper and lower limb muscles. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The application discloses a lower limb muscle fatigue factor analysis method fusing multiple muscle shape features, and comprises the following steps: acquiring muscle shape features of a measured position based on three-dimensional coordinates of marker points of motion capture, constructing a multidimensional feature vector through the muscle shape features, and screening sensitive features sensitive to a fatigue state through variance analysis; obtaining combined features with strong sensitivity to the fatigue state and high interpretability through fatigue correlation analysis and joint feature screening; fusing the combined features into multidimensional fusion features through principal component analysis dimension reduction processing, and obtaining a fatigue factor based on the multidimensional fusion features. The application discloses a lower limb muscle fatigue factor analysis method fusing multiple muscle shape features, a system and a storage medium, synergic shape changes of the vastus lateralis muscle and the vastus medialis muscle are fused through a three-dimensional cone body volume model, fatigue degree quantitative indexes and fatigue cause contribution degrees are output in combination with an interpretable statistical model, and the lower limb muscle fatigue cause is explained.

The invention discloses lactobacillus delbrueckii with a muscle protection function in a fat reducing period as well as a product and application thereof, belongs to the technical field of microorganisms, and discloses lactobacillus delbrueckii subsp. Lactis Turb8 with the preservation number of CGMCC No.35627. The lactobacillus delbrueckii subsp. Lactis Turb8 has the advantages that the preservation number is CGMCC No.35627; the strain or the preparation thereof can effectively prevent or improve the accompanying problems of muscle loss and function decline in the process of applying fat-reducing drugs such as GLP-1 receptor agonists (such as liraglutide and semeglutide), and the effect of reducing fat but not reducing muscle is achieved. The strain disclosed by the invention can be used for remarkably increasing the lean body mass ratio of a user, increasing the muscle mass of lower limbs, increasing the cross sectional area of muscle fibers and improving muscle function indexes such as strength of four limbs and suspension endurance while keeping the original weight-reducing effect of a fat-reducing medicine. The invention also relates to microbial agents comprising this strain, various preparations, their use in the preparation of products for ameliorating (in particular drug-induced) muscle reduction.

The invention discloses a method and equipment for monitoring lower limb vein deformation and blood flow based on an M-type ultrasonic technology, and the method comprises the steps: carrying out the M-type ultrasonic scanning of the lower limb skin of a user in a motion state in a preset sampling line direction through a flexible patch type ultrasonic probe; based on a preset grayscale signal gradient condition and a region-of-interest extraction condition, converting the scanned M-type ultrasonic image into a grayscale image, extracting a region-of-interest from the grayscale image, marking a low-pixel line segment representing a blood vessel envelope region in the region-of-interest as a'dark line ', d-type ultrasonic waves of a flexible patch type ultrasonic probe are used for measuring an optimal sampling line of a dark line, integration is carried out on deformation of the dark line along with time, the part between two adjacent waveforms in an obtained broken line graph is marked as a dark area, integration is carried out on changes of the edge and the internal pixel value of the dark area along with time, and the optimal sampling line of the dark line is obtained. And outputting a motion waveform image of the depth positions of the vein tube wall and the vein valve along with the time change, and calculating the vein deformation quantity of the lower limb muscles.

The present application provides a lower limb and center of gravity dynamic balance posture warning method based on a physical fitness all-in-one machine, including: obtaining the pelvic tilt angle, arch height and center of gravity position in a standard standing posture as individualized baseline data, and generating a dynamic balance reference value reflecting the individual's normal balance ability by statistically analyzing the baseline data; on the basis of the dynamic balance reference value, combining the center of gravity forward shift trend and the lower limb muscle compensation pattern, calculating the balance offset index in the standing posture change through a time series analysis algorithm to obtain a dynamic balance risk assessment result; if the dynamic balance risk assessment result exceeds the danger threshold, clustering analysis is performed on the correlation parameters of the pelvic tilt angle and arch height, grouping the correlation parameters, and identifying the potential causes of balance ability degradation.

The invention relates to the field of lower limb exercise equipment, and discloses nursing equipment for a nursing home, which comprises a rehabilitation unit and a control assembly. The rehabilitation unit comprises a truss fixed on the ground and a plurality of steps rotationally arranged on the truss to form a circulating escalator, a first step surface of the circulating escalator is flush with the ground and serves as a starting point, a second step surface serves as an end point, and a starting pedal is flush with the first step surface and hinged to the truss. The control assembly comprises a first sensor and a controller, and when the sensor detects that an object passes through the second step face, the controller can adjust the circulating escalator to enable the second step face to become a new starting point. The old people can exercise the lower limb muscle strength and improve the gait coordination by walking from the starting point to the ending point by themselves, and the falling risk is reduced. The self-control feeling of the old is improved, the life confidence of the old is enhanced, meanwhile, the workload of nursing personnel is reduced, and the site utilization efficiency and the nursing safety are improved.

The invention provides a multi-mode biofeedback-guided training intensity adjusting method in the pelma rehabilitation process, and belongs to the technical field of biofeedback guidance. A pressure sensor and a surface electromyographic electrode are fixed to the pelma surface of a patient, and a pelma pressure distribution signal and a lower limb muscle group surface electromyographic signal are synchronously collected; filtering, denoising and rectifying preprocessing are carried out on the collected signals, a real-time biological feedback adjustment value and a training load adaptability evaluation parameter are calculated through an adaptive intensity adjustment model of a liquid neural network structure, and the training intensity is dynamically adjusted by adopting a gating weighting function according to an adjustment value interval; establishing a training intensity optimization equation set comprising a load distribution equation and a fatigue monitoring equation to calculate an optimal training parameter, and feeding back the adjusted intensity parameter to rehabilitation equipment to realize closed-loop adaptive adjustment. The technical problem that real-time self-adaptive training intensity adjustment based on multi-mode biological signals cannot be achieved in the sole rehabilitation training process is solved.

The invention relates to the technical field of rehabilitation training, in particular to a novel paralytic lower limb auxiliary rehabilitation brace which comprises a leg supporting assembly, a foot supporting assembly, an ankle pump driving assembly, a leg circumference monitoring assembly, an air pressure massage assembly and a control module. The foot supporting assembly is used for supporting the feet of a user; the ankle pump driving assembly is used for driving the foot supporting assembly to rotate relative to the leg supporting assembly; the leg circumference monitoring assembly is used for monitoring muscle circumference information of legs of a user; the air pressure massage assembly is used for conducting air pressure massage on the legs of the user. The ankle pump driving assembly, the air pressure massage assembly and the leg circumference monitoring assembly are all electrically connected with the control module, and the control module is used for controlling and adjusting the air pressure massage assembly according to muscle circumference information monitored by the leg circumference monitoring assembly. The rehabilitation brace can well fix the lower limbs, prevent complications, assist treatment and promote muscle strength recovery of the lower limbs.

The invention discloses application of octyl 4-itaconate in preparation of a medicine for promoting proliferation, migration or scratch healing of vascular endothelial cells, and belongs to the technical field of medicines for vascular diseases. The medicine is 4-octyl itaconate, the administration dosage of the medicine is 25-30 mg / kg of body weight, and the concentration of the 4-octyl itaconate in the medicine is 5-8 mg / mL. The octyl 4-itaconate can promote proliferation, migration or scratch healing of vascular endothelial cells, so that blood flow of lower limb blood vessels after lower limb ischemia reperfusion is remarkably recovered, lesions of lower limb muscular tissues are relieved, new blood capillaries are promoted, and the curative effect is improved. Therefore, the compound has a wide clinical application prospect in preparation of drugs for promoting proliferation, migration or scratch healing of vascular endothelial cells.

The elastic device comprises a bottom plate and a water tank, a bottom frame connected through a hydraulic rod is arranged on the bottom plate, a supporting plate connected through an adjusting assembly is arranged on the bottom frame, an exercise assembly is arranged on the supporting plate, and the exercise assembly comprises a pair of guide plates arranged on the supporting plate; a moving frame is slidably clamped between the two guide plates, one end of the moving frame is rotationally connected with a rotating frame, a swing arm is arranged on the outer side of one end of the rotating frame, and an impedance assembly is arranged between the swing arm and the supporting plate; the exercising assembly can be matched with the impedance assembly to conduct lower limb muscle training on a patient, meanwhile, by arranging the supporting plate and the water tank, the joint load generated when the patient exercises the lower limbs is reduced, the training effect of the device is kept, and meanwhile joint injuries of the patient are reduced as much as possible.

An exercise resistance garment system that comprises a modular wearable vest, helmet, ankle harnesses, foot stabilizers, and elastic resistance members is disclosed. The vest includes anterior and posterior weight pockets and reinforced anchor points to support elastic tubing. A helmet is removably connected to the vest via adjustable resistance members and includes weight compartments and cervical resistance connectors. Ankle harnesses with weight pockets and tubing anchors interface with foot stabilizers that distribute load forces. A plurality of elastic resistance members, each with looped terminal ends, connect between the helmet, vest, and limb harnesses to apply directional resistance across the user's body. The system provides upward, downward, anterior, and posterior resistive forces to activate neck, core, upper and lower limb musculature.

The utility model relates to the technical field of rehabilitation training discloses a kind of rhythmic rehabilitation machines for rehabilitation training, including base, vertical shaker is provided on the base, tray is provided above the vertical shaker, support arm is provided at the rear of the base, resistance adjusting knob is installed on the support arm, control console is provided at the top of the support arm, display screen is embedded and installed on the control console, grip is installed on the both sides of the control console, the base front is connected with charging port, the base front is connected with switch, spring rope hanging buckle is connected to the base bottom, the base bottom is connected with antiskid leg. The vertical shaker and tray set can simulate the rhythm of walking and running, effectively exercise lower limb muscle, while reducing joint burden. By adjusting resistance adjusting knob, personalized training intensity can be provided for patients with different physical conditions. In addition, the design of anti-skid texture increases safety, prevents sliding during use.

The application provides a lower limb muscle strength prediction and balance function evaluation method based on plantar pressure and spatial pose fusion, comprising: collecting plantar pressure data, lower limb spatial pose data and human individual physiological parameters of a subject, and combining a force platform to obtain ground reaction force data; real lower limb muscle strength is calculated by using inverse dynamics and Hill muscle model, and a plantar pressure + spatial pose-lower limb muscle strength data set is constructed; the optimal sensor quantity and layout are obtained by combining a heuristic optimization algorithm and a machine learning regression model, taking prediction accuracy and information redundancy as indexes; a deep forest model is trained based on fusion features, real-time prediction of hip joint, knee joint and ankle core muscle group muscle strength is realized; further, muscle strength symmetry analysis, weak muscle group identification and hip-knee-ankle force ratio analysis are completed, and multi-dimensional quantitative evaluation of balance function is completed. The method can realize high-precision lower limb muscle strength prediction under limited sample conditions, and output multi-dimensional balance function evaluation results.

The invention discloses a portable blood circulation auxiliary device, a control method and a blood circulation auxiliary system. The portable blood circulation auxiliary device integrates the functions of blood oxygen and electrocardiogram detection and multi-part electrical stimulation, is small in size, supports portable use, gets rid of dependence of a traditional air bag type device on a fixed power source, does not limit activities of a user and meets daily scene requirements. Moreover, by combining double-index dynamic adjustment of the electrocardio waveform and the blood oxygen data, the discharge frequency is determined through the real-time heart rate, the discharge intensity is adjusted based on the blood oxygen data, precise and personalized intervention is achieved, and the defect that a traditional device lacks self-adaptive adjustment is overcome to a certain degree. Besides, electric stimulation is released according to the time sequence that the crus delays K1 milliseconds at the peak of the R wave and the thigh delays K2 milliseconds at the peak of the R wave, the time sequence is synchronously continued to the starting point of the T wave, the physiological characteristics of lower limb muscles and the blood pumping rhythm of the heart are met, the use comfort is improved, meanwhile, blood backflow is efficiently promoted, and the heart burden is relieved.

The invention relates to the technical field of application of penis erection assisting tools, in particular to a male erection assisting exerciser which comprises an adjusting mechanism, a control mechanism, a transmission mechanism, a transposition mechanism and a clamping and wrapping mechanism, and the height and the inclination angle of a lantern ring on the clamping and wrapping mechanism are adjusted through cooperation between the adjusting mechanism and the transposition mechanism. Mans of different heights can conveniently place the penis in the lantern ring for convulsion exercise, the adaptability of the exercise device is improved, the standing posture of the men can be adjusted by adjusting the height of the lantern ring, lower limb muscles of the men can be relieved, the exercise effect is improved, pressure distribution in the penis and the lantern ring can be changed, blood circulation is promoted, and the exercise effect is improved. Meanwhile, the push-and-pull unit is matched to drive the lantern ring to move front and back, so that the burden of active operation of a user is reduced, the physical strength is saved, the environment of automatic movement and passive movement is favorably provided, and the exercise scene is more real.

The utility model discloses a rehabilitation trainer for exercising lower limb muscles of a patient with knee osteoarthritis, which belongs to the technical field of rehabilitation equipment and comprises a training ball, a first connecting rod is inserted into one side of the training ball, a second connecting rod is inserted into the other side of the training ball, and a detachable component is arranged between the first connecting rod and the second connecting rod. A connecting part is arranged on one side of the first connecting rod and one side of the second connecting rod, the connecting part is used for connecting and fixing the first connecting rod and the second connecting rod, the connecting part comprises a first connecting ring and a second connecting ring, and the first connecting ring and the second connecting ring are rotationally connected to the end of the first connecting rod and the end of the second connecting rod correspondingly; the outer sides of the first connecting ring and the second connecting ring are sleeved with a first fixing band and a second fixing band, a connecting piece is arranged between the first fixing band and the second fixing band, and the problem that a rehabilitation training device is heavy and inconvenient to carry is solved.

The invention discloses a lower limb exercise device for orthopedic nursing, and relates to the field of medical instruments, the lower limb exercise device comprises a supporting plate, a cavity is formed in the supporting plate, a foam roller is rotatably connected in the cavity, a roller shaft is fixedly inserted in an inner ring of the foam roller, and the lower end of the roller shaft is matched with a mounting groove. And the mounting groove communicates with the cavity, and a columnar groove is formed in the roller shaft. A shifting block is shifted to rotate to drive a second threaded rod to rotate, a supporting plate on one side fixedly connected with a first extension plate in threaded connection with the second threaded rod moves, in this way, the size of a gap between the two supporting plates is adjusted, foam rollers can be attached to leg muscles in the movement process of the two supporting plates, follow-up use of the exercise device is facilitated, and the exercise efficiency is improved. In this way, the rotation of the foam roller is driven to perform rolling relaxation exercise on leg muscles of a patient, the tightness degree of fitting between the exercise device and the lower limb muscles can be adjusted according to self conditions, and the exercise relaxation effect is better.

The invention provides a lower limb blood circulation promoting system and method based on physiological feedback self-adaption, and relates to the technical field of intelligent wearable. According to the scheme, a plurality of detachable independent flexible air bag units are integrated through a flexible wearable sleeve, and segmented sequential inflation and deflation in the axial direction of a leg are achieved in cooperation with a circulation air pressure module; the muscle pump effect is effectively simulated to push venous blood to flow back; meanwhile, the micro-current stimulation module outputs low-frequency pulse current to directly activate muscular tissues of the lower limbs and enhance the vasomotor function, and the warm physical therapy module provides partitioned controllable warm stimulation; a sensing monitoring module arranged in the system collects PPG blood flow signals before and after pressurization, the internal pressure of each air bag and the skin temperature in real time, and a control module calculates a venous return index based on pulse wave amplitude changes, so that the air pressure intensity and rhythm, the micro-current frequency and amplitude and the heating temperature are dynamically adjusted; cooperative self-adaptive regulation and control of three modes of air pressure, electrical stimulation and warming are achieved, and blood circulation of the lower limbs is promoted.

The present invention discloses a closed-loop control method and system for a lower limb prosthesis. The closed-loop control method comprises: respectively collecting intrinsic myoelectric signals of the residual limb lower limb muscles and plantar pressure signals of the intact leg; identifying the current walking state based on the intrinsic myoelectric signals; issuing a control command to the prosthesis based on the current walking state to drive the prosthesis to a specified position; inputting the plantar pressure signals of the intact leg into a gait recognition model to identify and output the current gait information; querying a large database of gait plantar pressure information based on the current gait information to obtain a predicted value of the pressure distribution corresponding to the plantar of the prosthesis; collecting the plantar pressure signals of the prosthetic lower limb, comparing the plantar pressure signals of the prosthetic lower limb with the predicted value of the pressure distribution corresponding to the plantar of the prosthesis to obtain a deviation signal; and performing feedback control on the prosthesis movement based on the deviation signal. The closed-loop control of the lower limb prosthesis is achieved with automatic deviation correction capability, greatly improving the anti-interference ability and precision of the prosthesis control.

The invention relates to the technical field of rehabilitation training devices, in particular to a leg muscle rehabilitation training device which comprises a bottom plate, a supporting plate, a seat plate and a leg supporting plate. The first end of the leg supporting plate is provided with a foot placing groove, and the lower side of the leg supporting plate is connected with a supporting frame. An opening and closing assembly is arranged between the second end and the seat plate and used for driving the leg supporting plates to be opened and closed alternately. The supporting plate is connected with the fixing frame, the top of the supporting plate is provided with a flexion-extension assembly, one side of the bottom away from the rollers is provided with a resistance-increasing assembly, one side of the resistance-increasing assembly is provided with a resistance assembly, and an adjustable resistance source is provided. The trainer integrates alternate opening and closing and flexion and extension functions, solves the problem that a traditional instrument is single in training mode, comprehensively exercises leg muscle groups, and promotes balanced development of lower limb muscle strength. And an adjustable resistance mechanism can flexibly adjust the training intensity according to the rehabilitation stage, so that individual requirements are met. In addition, through the design of a buffer structure, action indication, a backrest grip and the like, the use comfort and safety are improved, and therefore the effect and experience of rehabilitation training are integrally improved.