354 results about "Muscle group" patented technology

The invention belongs to the technical field of robot control, and discloses a bionic robot control method and system based on a muscle fiber model.The method comprises the steps that a multi-scale muscle model is constructed based on a scale division mechanism, and the multi-scale muscle model is optimized by means of physiological state variables and fatigue accumulation variables to obtain a muscle fiber model; according to the muscle group cooperation relation and the kinematics model of the robot limbs, geometric structure adaptation is carried out on the model in combination with a deformation compensation strategy; on the basis of the fused multi-sensor data, a muscle fiber model and a model after geometric structure adaptation are utilized to construct a feedback adjustment mechanism; and on the basis of an adaptive neural network algorithm, the muscle fiber model, the model after geometric structure adaptation and a feedback adjustment mechanism are optimized, solving is carried out in combination with a multi-objective optimization algorithm, and command information of the limbs of the bionic robot is obtained and executed. Accurate control over the limb joint position, the torque and the impedance of the bionic robot is achieved.

The invention relates to the technical field of electromyographic signal monitoring, and discloses a guided monitoring method and system based on a wireless surface electromyographic analysis feedback instrument. The method comprises the following steps: acquiring electromyographic signal time sequence data and limb movement track space coordinate information when a target muscle group moves through a multi-channel wireless surface electromyographic sensor; muscle activation intensity and fatigue change features are extracted, a joint activity angle change sequence is calculated, and a muscle-joint collaborative activity feature matrix is generated through space-time alignment fusion; analyzing signal transduction delay and amplitude matching degree in the matrix, and evaluating the nerve driving coordination level; according to the deviation from the preset standard mode, generating a real-time biological feedback signal containing an action correction instruction and a muscle activation intensity adjustment parameter; and converting into a tactile vibration mode and a visual guidance mark to be output. According to the method, synchronous acquisition and fusion analysis of multi-dimensional motion information are realized, and visual guidance is provided through multi-modal feedback.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention discloses a patient improvement effect analysis method for controlling spinal cord electrical stimulation through an implantable brain-computer interface, and relates to the technical field of medical rehabilitation, and the method comprises the steps: multi-dimensional collaborative data collection: implanting electrodes in a target brain region and below a spinal cord injury segment, installing a detection element at an exoskeleton key part, and carrying out multi-dimensional collaborative data collection; a sensor is attached to a lower limb preset muscle group, electroencephalogram signals, SCS stimulation parameters, EXS motion data and neuromuscular response data are synchronously collected, and time correlation marks are embedded; according to the method, the reliability of motion intention decoding is remarkably improved by adopting a mode of combining multi-source signal preprocessing and a multi-mode intention recognition model, and in the signal preprocessing stage, the self-adaptive filtering algorithm combining Kalman filtering and wavelet threshold denoising is applied, so that the motion intention decoding efficiency is improved. SCS electrical stimulation interference, EXS motor noise and physiological noise in the electroencephalogram signals are effectively removed.

The invention discloses a self-adaptive neuromuscular regulation and control device based on myoelectricity feedback. The self-adaptive neuromuscular regulation and control device comprises a myoelectricity sensor attached to the skin surface of a target muscle group. The establishing module is used for establishing an electromyographic signal matrix and respectively establishing a space weight matrix for describing a muscle cooperative activation mode and an activation matrix for describing muscle time sequence activation intensity; and iterating the space weight matrix and the activation matrix to obtain the space weight matrix and the activation matrix after iteration. The time sequence compensation module is used for extracting a target muscle collaborative activation curve from the iterated activation matrix; matching the activation curve with a health template, and determining an activation peak point according to a matching result; and according to the activation peak point, determining whether an activation time difference anomaly exists, and when the activation time difference anomaly exists, performing electrical stimulation compensation based on a time sequence according to the activation time difference anomaly parameters in the next period. The electrical stimulation can be effectively corrected according to the effect, and the neuromuscular regulation and control effect is further improved.

The invention relates to the field of upper limb joint rehabilitation training, in particular to an upper limb joint rehabilitation training method and system based on an exoskeleton mechanical arm, and the method comprises the steps: collecting sEMG signals of a target muscle group of a user in real time in a training process; calculating the root mean square of the amplitude of the sEMG signal in the current time window; if the root mean square is smaller than a muscle force insufficient threshold value, a training mode is switched to a full-assistance mode; if the root mean square is not smaller than the muscle force insufficient threshold value and smaller than the normal muscle force threshold value, the training mode is switched to a semi-assistance mode; if the root mean square is larger than or equal to the normal muscle force threshold value, the training mode is switched to an anti-resistance training mode. The rehabilitation training effect of the upper limb joints can be effectively improved.

The invention relates to the technical field of rehabilitation medical treatment and neural engineering, and particularly discloses an epidural electrical stimulation lower limb rehabilitation system and method based on a brain-computer interface, the epidural electrical stimulation lower limb rehabilitation system comprises a weight reduction suspension device, an epidural electrical stimulation module and a brain-computer interface module, the epidural electrical stimulation module controls left and right electrical stimulation through a program controller, and the brain-computer interface module comprises a wireless electroencephalogram acquisition device and an interaction terminal and is used for acquiring electroencephalogram signals of a movement area of a patient and presenting a virtual gait scene and voice prompt at a computer end. The method comprises the steps of electroencephalogram signal collection and feature extraction, motion intention judgment, stimulation control and feedback backtracking, and by combining a motion intention decoding result with electrical stimulation output, activation of a lower limb target muscle group is achieved, a training closed loop is constructed, and the method is used for postoperative rehabilitation of a spinal cord injury patient.

The invention provides a rehabilitation training feedback system and method. The method comprises the following steps: acquiring a surface electromyogram signal; a plurality of activation trend indexes are determined through the surface electromyogram signals, and then muscle force activation points of different muscle areas are extracted from the surface electromyogram signals according to all the activation trend indexes; performing collaborative analysis on the basis of a function collaborative relationship in combination with all muscle force activation points to obtain time sequence response tensors between all motion joints and corresponding muscle areas when motion responses are inconsistent; according to the joint angle information and the time sequence response tensor, constructing a functional coupling graph, and further performing kinematic chain simulation on a rehabilitation training process through the functional coupling graph to obtain a response consistency index; and performing feedback control on the rehabilitation training process of the patient according to the response consistency index in combination with a preset consistency threshold. By means of the scheme, feedback control can be conducted on rehabilitation training of the patient based on the space-time coupling relation between muscle group microstructure changes and mechanical conduction characteristics.

The invention relates to the technical field of postpartum rehabilitation equipment, and provides a pelvic floor muscle repairing instrument, a pelvic floor electromyographic signal interference removing method and related equipment. The pelvic floor muscle electromyographic acquisition module is configured to acquire pelvic floor muscle surface electromyographic signals containing adjacent muscle group interference to obtain target electromyographic signals; the interference muscle group monitoring module is configured to collect physiological activity signals of muscle groups adjacent to pelvic floor muscles so as to obtain interference reference signals; the posture sensing module is configured to collect a body posture time sequence signal related to pelvic floor muscle activity so as to obtain a scene auxiliary signal; and the signal processing module is configured to perform suppression processing on adjacent muscle group interference in the target electromyographic signal based on the interference reference signal and the scene auxiliary signal, and output a purified pelvic floor electromyographic signal. Pelvic floor muscle real signals and dynamic interference are distinguished through the scene auxiliary signals obtained by the posture sensing module, and the purity and reliability of output signals of the pelvic floor muscle repairing instrument are improved.

The utility model provides an abdominal wheel which comprises a main body part, and the main body part comprises a first abdominal wheel main body and a second abdominal wheel main body, the second power roller main body is detachably connected with the first power roller main body, so that the second power roller main body and the first power roller main body are combined into a whole, and a user can combine the second power roller main body and the first power roller main body into a whole for use; according to the power roller, the first power roller body and the second power roller body are separated from each other, so that the first power roller body or the second power roller body is independently used, a user can use the power roller to do exercise in various different modes, different muscle groups of the body are exercised, and the actual use requirements of the user in different scenes are met.

The invention relates to the technical field of nursing robot control, in particular to a control method and system of a nursing robot. The method comprises the following steps that a 3D camera is used for collecting a posture track when a patient gets up, muscle tension change signals associated with the posture track are obtained through an electromyographic signal sensor, and posture associated muscle tension data are obtained through synchronous association processing. Thirdly, the data are analyzed, the muscle group force line unbalance strength is evaluated, and the gravity center shift trend is obtained in combination with gravity center shift regression analysis; finally, robot auxiliary output parameters are generated based on the gravity center shift regression trend and input into a nursing robot control framework, a control scheme suitable for the nursing robot is designed, a control instruction is sent to a robot terminal, and corresponding nursing operation is executed. According to the invention, the control technology of the nursing robot is optimized, so that the control technology of the nursing robot is more perfect.

An electromyography (EMG) measurement device includes a garment configured to be worn on an anatomical region of an associated wearer, a plurality of electrodes arranged on the garment to contact skin of the anatomical region when the garment is worn on the anatomical region of the associated wearer, electronics operatively connected with the plurality of electrodes and configured to measure EMG data emanating from the anatomical region, and an electronic processor programmed to derive a contribution of spatial muscle activity of a target muscle or muscle group to the measured EMG data.

The invention provides a muscle fatigue detection method and device based on a multi-modal physiological information graph, electronic equipment and a storage medium, and relates to the field of biological information. The method comprises the steps that space-time synchronization signals of a target muscle group are acquired, and the space-time synchronization signals comprise electromyographic signals and muscle oxygen signals; performing data preprocessing on the space-time synchronization signal to extract a target characteristic parameter reflecting a muscle fatigue state; performing visualization processing based on the target characteristic parameters to obtain a multi-modal physiological information graph; and inputting the multi-modal physiological information graph as input data into a target detection model to obtain a muscle fatigue classification result. Therefore, the fusion of the multi-modal physiological information graph is realized based on the acquired space-time synchronization signal and the target detection model, then the identification of muscle fatigue is completed, the objectivity and accuracy of waist and back muscle fatigue detection and classification are finally improved, and an objective and effective prevention means is provided for preventing chronic lumbago and acute muscle injury.

The application discloses a kind of swallowing disorder rehabilitation auxiliary scheme generation method and system, belong to medical rehabilitation intelligent evaluation technical field, to solve the problem of swallowing training path optimization difference;The present application collects myoelectricity, tongue pressure, laryngeal image and acoustic signal in the process of swallowing by multi-channel sensing device, constructs unified multi-modal swallowing behavior feature vector, realizes obstacle stage recognition and function grade discrimination in combination with pre-training model and historical data, and outputs structured evaluation result;Based on the training action of high matching degree of knowledge graph matching, the personalized training path is generated by fusing muscle group matching degree, edge weight and function grade factor, and the intensity, frequency and rhythm parameters are set;Real-time monitoring action and myoelectricity deviation in training process, output prompt signal and record behavior completion degree;According to feedback, dynamically update rehabilitation progress graph, if deviation is out of limit, then automatically reconstruct path and synchronize doctor intervention, thereby improve rehabilitation efficiency and safety.

The invention provides a personalized man-machine coupling digital twinning model construction method and system, and relates to the technical field of digital twinning, and the method comprises the steps: constructing a man-machine coupling lower limb exoskeleton rehabilitation robot digital twinning model constructed for a target rehabilitation patient; the model is coupled with a rehabilitation patient musculoskeletal system digital twinborn model and a lower limb exoskeleton rehabilitation robot digital twinborn model. The initial rehabilitation parameters are input into the human-machine coupling lower limb exoskeleton rehabilitation robot digital twinborn model for simulation, and simulation physiological feature information of a key muscle group is obtained; and comparing the simulation physiological feature information with evaluation information from experts, and verifying the reliability and effectiveness of the theoretical method provided by the invention.

The utility model provides pelvic floor muscle rehabilitation training trousers which comprise a trouser body, and the trouser body comprises a trouser body and a waistband. The plurality of electrode plates are attached to the pants body in a distribution mode corresponding to a plurality of muscle positions of a human body; the controller is arranged on the outer side of the waistband and electrically connected with the electrode plates; wherein the left side and the right side of the pants body are designed to be split, at least two rows of buckling points are arranged on the pants body on one side of the split design in the length direction of the pants body, and leg binding parts are arranged on the pants body on the other side of the split design; the leg binding part comprises a stretching part and a fixing part, the fixing part is fixedly connected with the stretching part, and a buckle matched with the buckle point is arranged on the fixing part; the electrode plates are controlled by the controller to give out pulse electric shock, so that the electrode plates stimulate a plurality of muscle groups of the lower limbs of a patient correspondingly, the pelvic floor muscle groups can be exercised by wearing the training pants, and the convenience is high; the patient can flexibly adjust the clinging degree of the electrode plates and muscle groups according to the thickness of the legs through the buckle points and the buckles of the pants body, and therefore the rehabilitation training effect is guaranteed.

The invention discloses an emotion recognition system and method based on a large model, and relates to the field of data analysis, and the method comprises the steps: collecting facial physiological dynamic data, including specific muscle group motion data and photoelectric volume pulse wave signals, of a person in a calm state, and establishing a reference contraction frequency and a reference heart rate; analyzing data characteristics and calculating an amplification threshold and an enhancement threshold; collecting face data of a target person in real time, and extracting real-time contraction frequency, duration of the real-time contraction frequency exceeding a critical value and real-time heart rate; and judging the emotional state by comparing the amplification and enhancement of the real-time data and the reference value. The system comprises a reference establishment module, a threshold calculation module, a real-time monitoring module, a state identification module and the like. According to the method, non-invasive, objective and accurate emotion recognition is realized through multi-modal physiological signal analysis, and the method has the advantages of high real-time performance and high accuracy.

The utility model discloses a four-force-arm multi-track strength training device which comprises a machine frame. The four adjusting assemblies are located on the same side of the rack and arranged on the periphery of the rack, each adjusting assembly comprises an adjusting base and an output rod, the adjusting bases are rotationally connected to the rack in the horizontal direction, and the output rods are rotationally connected to the adjusting bases in the vertical direction; the four stretching parts are connected with the adjusting assemblies in a one-to-one correspondence mode, each stretching part comprises a pulling block, the pulling blocks are connected to the outer side of the output rod, and the pulling blocks are suitable for being pulled outwards; and the resistance output module is connected to the rack, and the resistance output module is used for outputting load force to the pulling block. Two additional force arms and a flexible multi-angle adjusting mechanism are added, the types of training actions are greatly enriched, the adaptability and expansibility of the equipment are improved, a user can do diversified and personalized exercise according to different muscle groups, operation is easy, convenient and visual, the equipment is suitable for people of various body types and training levels, and the practicability is high. And the fitness experience and the training effect are obviously enhanced.

Provided is a method for treating musculoskeletal atrophy in patients suffering from a neurological or neuromuscular disease or disorder by combining testosterone replacement therapy with neuromuscular electrical stimulation of multiple muscle groups and, optionally, physical activity.

The invention relates to the technical field of automobile collision safety, and discloses a passenger posture prediction method and system based on active safety early warning, and the method comprises the steps: synchronously collecting vehicle dynamics data, passenger target muscle group surface electromyogram signals and kinematics states under a simulated or real AEB working condition; after preprocessing the data, constructing a myoelectricity-attitude prediction model by using a CNN and LSTM hybrid model; training the model by using a large amount of data to learn the internal relationship between the characteristics and the passenger kinematics state change, and predicting the kinematics state of each section of the passenger body at the collision moment; acquiring a vehicle deceleration curve, inputting characteristics to predict the posture of a passenger, converting into a simulation software instruction to complete initialization of a virtual dummy, and running collision simulation; the problem that the initial position of a traditional collision simulation model cannot reflect the actual posture of a passenger under the emergency braking working condition, and consequently data difference is large is solved.

The present inventive concept relates to a physical therapy device designed to isolate and strengthen ankle dorsiflexors and related muscle groups without compressing major neurovascular bundles that cross the ankle joints. The present inventive concept combines fulcrums along the medial and lateral aspects of the ankle with resistance along the posterior aspect of the ankle to achieve mobility and resistance against motion during use. Benefits of the present inventive concept include improved ankle stability and dexterity, mitigation of ankle injuries, and prevention of neurovascular compression around the ankle during use.

The present invention is directed toward an exercise machine and climbing simulator that enables its users to initiate the climbing or crawling motion whilst being rotated at different angles. This invention includes a rotatable framework and a plurality of foot spines and arm spines that are configured to support the feet and arms of a user. As the framework rotates, the user incurs exercise in maintaining contact with the plurality of foot and hand spines. Each of the foot and hand spines is decoupled from each other, that is, each of the foot and hand spines is configured with independent rotational and lateral movement. By changing the angles of rotation and the positions of the foot and hand spines, gravity is applied in different ways and therefore different muscle groups are targeted. Thus, this invention assists users in acquiring varying degrees of physical fitness and mountain climbing preparation.

The invention discloses an upper limb robot rehabilitation training control method based on electromyographic signals, and relates to the technical field of rehabilitation medical treatment, and the method comprises the following steps: collecting electromyographic signals of a human body upper limb target muscle group in different action modes, and constructing an electromyographic signal feature library, screening an electromyographic signal matched with the rehabilitation training action from an electromyographic signal feature library and marking the electromyographic signal as a training trigger signal; extracting a signal effective value, a spectrum feature and an action correlation degree of the training trigger signals, judging whether feature enhancement processing needs to be performed on the at least two groups of training trigger signals according to the signal effective value and the spectrum feature, and marking the corresponding training trigger signals as control instruction generation signals; acquiring an upper limb movement track parameter corresponding to the control instruction generation signal; the method has the advantages that quantitative analysis of the electromyographic signals can reflect the neuromuscular function state of a patient in real time, objective data support is provided for training scheme adjustment, and training scientificity and repeatability are improved.

The invention discloses a control method and device of a flexible pneumatic joint unit and a flexible exoskeleton system.The control method comprises the following steps that the difference value of electromyographic signals of an antagonistic muscle group is calculated, and a corresponding torque intention is obtained; calculating the sum of the electromyographic signals of the antagonistic muscle group to obtain a corresponding stiffness intention; generating a corresponding expected moment based on the moment intention; generating a target pressure difference corresponding to each antagonistic pneumatic muscle pair based on the expected moment; generating a corresponding expected stiffness based on the stiffness intention; generating a basic pressure corresponding to each antagonistic pneumatic muscle pair based on the expected stiffness; based on the target pressure difference and the basic pressure, generating target pressure of each pneumatic muscle in the antagonistic pneumatic muscle pair; and adjusting the internal air pressure of the corresponding pneumatic muscle based on the target pressure. According to the method, the user is not forced to follow a preset track to reach the target position, but the physical compliance of the user is dynamically adjusted according to the natural force generation and tightening conditions of muscles during the action of the user.

The invention relates to the technical field of biomedical engineering, and discloses a rehabilitation evaluation method based on ICF-RS. Respectively arranging myoelectricity and torque acquisition units at the target muscle group and the corresponding joints, and synchronously acquiring according to a preset frequency at a unified starting moment; performing statistical standardization and integral second on the myoelectricity, absolutely averaging the torque second, and pairing with the myoelectricity second by second; establishing a first-order linear dynamic model which takes the two sequences as input and contains a natural fallback item, and discretizing according to the step length of the whole second to obtain a rehabilitation state sequence; calculating an average recovery rate according to the end state and the evaluation duration, comparing the average recovery rate with a reference rate conversion score, and mapping the average recovery rate to walking ability and muscular endurance grades in an ICF rehabilitation scale; second-level data, states and scores are archived, and the change rate is calculated day by day to judge the trend.

Abstract The integrated suspension training equipment is an exercise device designed for sports and rehabilitation movements. Considering the fact that individual problems and needs vary, this device aiming at solving problems with simultaneous use of bands, straps, harnesses, knee and ankle bands and shoe covers and creating a safe training environment for all types of sportspeople including children, the injured, the elderly and weak, amateurs and professionals and making sure the outcome of training is increased physical strength, cardiovascular endurance and muscle size and acquisition of sports skills, etc. In addition, this perfect device enables athletes to train full body or specific muscles. For this purpose, it is necessary to wear a vest, use the equipment installed on it, adjust it and create a tolerable difficulty for the person to enable him / her to perform the extensive exercises required for strengthening muscles and improving physical capabilities.

The invention relates to the technical field of rehabilitation physiological monitoring, and discloses a nerve-muscle recovery detection method based on HRV recovery rate and sEMG frequency spectrum declination, and the method comprises the steps: firstly obtaining an effective RR interval sequence subjected to quality gating and a steady state sEMG segment of a specific muscle group; then, extracting systemic HRV recovery features and local muscle fatigue features in parallel, and respectively generating a normalized HRV recovery rate score and a myoelectricity recovery score; through multi-level fusion, a global nerve recovery score, a local muscle recovery score array and a comprehensive nerve-muscle recovery score are integrated; and finally, based on the multi-dimensional evaluation results, generating personalized training suggestions. Therefore, the nerve-muscle system preparation degree of an individual can be comprehensively and accurately reflected, and a scientific basis is provided for optimizing a training plan and preventing sport injuries.

This utility model discloses a core training device, including a frame with a suspension assembly and a support assembly on it. The support assembly is located below the suspension assembly. One end of each of the two booms is fixed to the support assembly, and the other end is rotatably mounted on the frame. The counterweight mechanism includes an electromagnetically controlled damper. The frame has a rotating seat, and one boom is connected to the rotating seat via a rotating shaft. The electromagnetically controlled damper is drively connected to the rotating shaft. This training device adopts a vertical design, occupies a small area, and has a variety of movement trajectories, effectively training the human core muscle groups. Its resistance adjustment abandons traditional counterweights, using an electromagnetically controlled damper to achieve flexible resistance adjustment, improving the user experience. The reciprocating design of the counterweight mechanism provides a damping effect during crunches and relaxation, reducing the feeling of stagnation caused by sudden changes in force, making the equipment run more smoothly, balancing comfort and training efficiency.

The invention discloses a leg rehabilitation training device, and particularly relates to the technical field of medical instruments.The leg rehabilitation training device comprises a supporting assembly, a fixing assembly is installed on the upper portion of the supporting assembly, a cavity is formed in the right portion of the fixing assembly, an adjusting assembly is installed in the cavity, and a driving assembly is installed in an inner cavity of the fixing assembly; a training assembly is installed in an inner cavity of the fixing assembly. According to the leg rehabilitation training device, a patient does not need to get out of the bed by himself or herself through the designed adjusting assembly, the patient can be gradually transited from a lying state to a standing state by adjusting the stable angle of the turnover bed, and the safety risks such as falling and collision caused by lower limb weakness and lack of balance feeling in the whole process are avoided; meanwhile, by simulating the standing state, leg muscles can naturally bear the body weight, core muscle groups such as quadriceps femoris muscles and gastrocnemius muscles can be activated, muscle loss atrophy caused by long-term bed lying can be prevented, bone metabolism can be stimulated through load bearing, and the occurrence risk of osteoporosis can be reduced.

The utility model discloses a somatosensory enhanced muscle engraving glove for strength training, which comprises a hollow surrounding body for surrounding a palm; the stress assembly is connected to the surrounding body, the stress assembly comprises a rigid plate and a connecting piece which are connected with each other, the connecting piece is used for being connected with the resistance output module, the rigid plate is connected with the connecting piece, and the rigid plate is used for allowing the palm to abut against and push force so as to conduct training through the load force output by the resistance output module. The rigid plate makes contact with the palm and serves as a platform for a user to exert force, and the connecting piece is used for being connected with an external resistance output module to ensure that resistance can be effectively transmitted in the training process. Therefore, through the arrangement of the rigid plate, the user can directly apply force with the palm, participation of joints such as fingers and wrists is reduced, training is more concentrated on a target muscle group, and the training accuracy and efficiency are improved.