134 results about "Stimulus current" patented technology

The invention relates to the technical field of medical instruments, in particular to a high-precision time interference non-invasive brain deep electrical stimulation method, equipment and system, and solves the problems that two stimulation electrodes are used for each pair of current in traditional time interference-based non-invasive brain deep electrical stimulation, so that the current distribution is relatively dispersed, and the stimulation focusing performance is relatively poor. According to the method, high-precision 4 * 1 electrode configuration is used, two electrodes for applying a stimulation current are changed into a 4 * 1 electrode form, the flowing path of the current is effectively limited, the current is more focused, and the focusing performance of the interference current is further improved. According to the device, high-precision current control is realized through the anti-phase output circuit, the 4 * 1 voltage division circuit, the constant current source module and the impedance detection module; the system supports forward and reverse electrode position optimization, a personalized real finite element head model simulation system based on MRI data is used for guiding practical application, the focusing performance of each pair of current in a target brain region is improved, and therefore the overall stimulation precision in the target brain region is improved.

The invention discloses a closed-loop noninvasive spinal cord electrical stimulation regulation and control method and system based on motion data, and the system is provided with a flexible electrode array patch which is attached to the skin surface of a to-be-tested human body; the sensing module is used for collecting electromyographic signals or acceleration signals of a user; the signals are processed, and characteristic values related to actions and motions are extracted; the closed-loop feedback module compares the characteristic value with a model set characteristic / threshold value, and judges whether to start stimulation site and stimulation parameter adjustment or not; automatically selecting an optimal electrode unit and a corresponding stimulation parameter based on a judgment result; the dynamic regulation and control module controls the optimal electrode unit to output stimulation current, and regulates the activity of corresponding spinal cord neurons; and continuously performing closed-loop adjustment on the electrode unit and the stimulation parameters according to the motion feedback data. According to the method and system, precise stimulation and closed-loop regulation and control based on the motion response of the patient are achieved, and the problems that stimulation target positioning depends on artificial experience, parameter adjustment is not timely, and individualized and closed-loop feedback capacity is lacked are solved.

The invention discloses a tremor stimulation method and a tremor stimulation device. The tremor stimulation method comprises the following steps: 1) continuously acquiring tremor information of a subject; 2) extracting the tremor amplitude and the change of the tremor frequency along with time; and 3) based on the change of the tremor amplitude at the current moment and the previous moment and the change of the tremor frequency at the current moment and the previous moment, a stimulation scheme at the next moment is generated, and the stimulation scheme at least comprises a stimulation current value of the electrical stimulation signal and a waveform frequency combination. According to the tremor stimulation method, a series of tremor information is obtained based on continuous collection of tremor activities of the subject within a period of time, the change trend of the tremor amplitude and the tremor frequency is extracted from the tremor information, and a personalized stimulation scheme is generated in real time according to the real-time tremor condition of the subject. And the effectiveness of the stimulation effect and the comfort of a patient are guaranteed to the greatest extent.

The invention belongs to the technical field of nerve regulation and control engineering, and provides a cerebrospinal fluid rhythm-based Alzheimer's disease electrical stimulation system, which is characterized in that first frequency band range data and second frequency band range data in brain wave signals are coupled to obtain cerebrospinal fluid rhythm data; then, calculating the phase difference between the first frequency band range data and the cerebrospinal fluid rhythm data; finally, the stimulation frequency is dynamically controlled according to the phase difference, and the stimulation current is dynamically controlled according to the brain tissue water volume fraction. The problem that specific metabolism requirements of non-fast eye movement sleep and fast eye movement sleep cycles cannot be matched by adopting single-frequency-band stimulation is solved, dynamic changes of post-traumatic encephaledema and requirements and influences of cerebrospinal fluid rhythm on current control are considered, the real-time adaptive capacity to the dynamic changes of the post-traumatic encephaledema is improved, and the application prospect is wide. And the treatment effect of the Alzheimer's disease is ensured.

The invention belongs to the cross technical field of biomedical engineering and nerve regulation technology. According to the brain-heart linkage transcranial strong alternating current stimulation feedback control method and system, heart rate variability characteristics are obtained according to electroencephalogram signals, electroencephalogram signal characteristics are obtained according to the electroencephalogram signals, and a dynamic coupling index is determined according to the electroencephalogram signals and electrocardiosignals; when the heart rate variability characteristic is greater than or equal to a corresponding heart rate characteristic baseline threshold value, the electroencephalogram signal characteristic is greater than or equal to a corresponding electroencephalogram characteristic baseline threshold value, and the dynamic coupling index is greater than or equal to a set threshold value, judging that the emotional disorder is improved, and keeping the intensity of the stimulation current unchanged; otherwise, increasing the intensity of the stimulation current to a set threshold value until the emotional disorder is improved. Through combined calculation of the electroencephalogram signals and the electrocardiosignals, dynamic monitoring and accurate evaluation of the process of treating the emotional disorder through transcranial strong alternating current stimulation are achieved, and the accuracy of electrical stimulation is guaranteed.

A method for monitoring the line impedance of a protective earth (“PE”) conductor is provided. The method injects a small stimulus current at a frequency much higher than the grid frequency. The stimulus current circulates in the loops between a grid-connected device and a grid source, creating small voltage drops in the grid conductors, resulting in a common mode voltage which can be measured. The method then includes measuring the common mode voltage and the residual current at a point of common coupling (“PCC”). The method then includes monitoring the resistive and reactive parts of the line impedance. For example, the method can monitor the line impedance and report a broken PE conductor or a high PE resistance, beyond a given threshold where safety becomes a concern.

According to another disclosed embodiment, an energy efficient implantable neurostimulator for delivering one or more electrical pulses to a target region within a patient's body is provided. The neurostimulator includes a converter for generating the stimulation current, wherein the converter includes a voltage increasing circuit and a voltage reducing circuit. The stimulator may also include a current source that includes a pair of cascode arranged transistors that are controlled to maintain an amplitude of the stimulation current substantially constant. The neurostimulator may also include a bias voltage power supply that powers a selecting circuit for selecting one of the voltage increasing or voltage decreasing circuits.

The invention discloses a visual prosthesis control method and system and a storage medium, and relates to the field of medical instruments, and the method comprises the steps: extracting at least one initial target image based on a target object selection result fed back by a user, carrying out the region-of-interest extraction of the initial target image, and obtaining a target object contour image, grouping each contour pixel point based on the brightness values of the contour pixel points in the target object contour map to obtain a plurality of data groups and a stimulation sequence thereof, mapping a stimulation current matrix of each data group based on the stimulation current value and the space coordinate of each contour pixel point, and obtaining a stimulation current matrix of each data group based on the stimulation sequence; and controlling the release of the stimulation current in the electrode array based on each stimulation current matrix in sequence. Redundant information is reduced based on user feedback and region-of-interest extraction, the stimulation sequence based on the average brightness value of each data set is configured, the stimulation current is controlled to be released in the electrode array based on each stimulation current matrix in sequence, and the perception quality of the brain to the target object is improved.

The invention discloses an ear nerve stimulator, and belongs to the technical field of biomedical engineering and nerve regulation and control. The device mainly comprises a plurality of flexible patches attached to the ear, ear electrodes arranged according to ear acupuncture points and embedded in the flexible patches, and a stimulator adopting a cross-ear design. And the flexible patch has biocompatibility and adhesion, so that comfortable and stable wearing is ensured. A control unit and a stimulation module are contained in the stimulator shell, and stimulation current parameters can be generated and accurately regulated and controlled. Through flexible fitting and precise acupoint electrode design, the defects that a traditional electrode is uncomfortable to wear, and a stimulation area is fixed and inaccurate are overcome. And the equipment is light and stable due to the ear-crossing structure. A selectable air pump and air bag mechanism further ensures the reliability of electric contact. The device can realize safe, accurate and comfortable ear vagus nerve stimulation, is suitable for treatment and rehabilitation of epilepsy, depression and other diseases, and has a wide application prospect.

The application discloses a mental health evaluation method and system based on brain area electric stimulation, relates to the technical field of medical and health information science, and creatively integrates brain area electric stimulation into mental health evaluation. The basic cognitive level and neural plasticity potential of a measured person are objectively quantified through comprehensive scores before and after brain area electric stimulation, so that corresponding suitable mental health evaluation test questions are selected based on the basic cognitive level and neural plasticity potential, and the precision, sensitivity of corresponding mental tests and the mental comfort of the measured person are significantly improved. A decay quantization model of a stimulating current from an electrode to the brain is given, the decay quantization model is used to accurately control the electric quantity, and the maximum beneficial effect is realized under the condition of guaranteeing health and safety. Historical data accumulated in the application process can be effectively used to solve medical problems, such as the influence of brain area electric stimulation on child neural development evaluation, early warning of mental illness and brain function reinforcement.

The invention relates to the field of closed-loop nerve regulation and function reconstruction, and discloses a closed-loop brain-spinal cord interface upper limb grasping function reconstruction method and system based on multi-modal biofeedback. According to the method, at least three kinds of feedback information such as joint angles, grabbing force and electromyographic signals are synchronously collected, and a comprehensive actual motion state is generated through weighted fusion; according to an error vector between an expected state and an actual state, a hierarchical adjustment strategy is creatively adopted to carry out differentiation and adaptive adjustment on parameters such as stimulation current intensity, frequency and pulse width; and fatigue indexes are calculated based on myoelectricity frequency domain characteristics (such as median frequency and average power frequency), and prospective intervention is carried out by superimposing a fatigue compensation strategy. The method effectively solves the problems that an existing system is low in control precision, insufficient in single feedback dimension information and insufficient in continuous motion ability, and the precision, adaptability and long-term stability of motion control are remarkably improved.

The invention provides a nerve regulation and control system and method for a spinal cord ventral epidural region, and the system employs a microprocessor to generate multiple paths of pulse width modulation signals, and drives a voltage-controlled current source after amplitude adjustment. Stimulation current with adjustable frequency, pulse width and amplitude is output to act on a spinal cord ventral nerve structure. Real-time monitoring of stimulation current of each channel is realized through combination of voltage sampling and a single-pole multi-throw analog switch, feedback information of a body position, myoelectricity, pressure and other multi-mode sensors is fused, a closed-loop control mechanism is constructed, and dynamic adjustment and individualized optimization of electrical stimulation parameters are realized. The system has the advantages of being more accurate in electrical stimulation positioning, more sensitive in response, more intelligent in control and the like, and is suitable for intelligent rehabilitation intervention in scenes of spinal cord injury, cerebral palsy, neurological dysfunction and the like.

The invention relates to the technical field of current intelligent decision making, in particular to an acupoint stimulation current decision making method and system based on an integrated fingerstall electrode, and the method comprises the steps: receiving a starting instruction of the integrated fingerstall electrode, enabling a fingerstall in the integrated fingerstall electrode to start collecting a current signal of an acupoint in real time to obtain an initial acupoint current signal, and carrying out the conversion through a trans-impedance amplifier, initial acupoint voltage signals are obtained, the initial acupoint voltage signals are preprocessed, and a target acupoint multi-domain composite feature set is obtained; performing model construction on the acupoint stimulation data set by using a deep learning algorithm to obtain an acupoint stimulation current decision model, and obtaining optimal stimulation current intensity, stimulation current frequency and stimulation current waveform parameters based on a target acupoint multi-domain composite feature set and a pre-constructed evaluation method, a plurality of micro electrodes in the fingerstall are set to obtain a current output fingerstall, and the current output fingerstall and a safety monitoring method are utilized to stimulate the target acupuncture point. According to the invention, intelligent decision of acupoint stimulation current can be realized.

The invention provides a deep brain stimulation method and system based on controllable current vectors of high-channel-number electrodes, and the method comprises the following steps: implanting two electrodes into a target region, and enabling a nucleus of the target region to be located between the two electrodes; by selecting different contacts on the stimulating electrodes, multiple channels of induced currents in different directions are generated in a plane constructed by the two electrodes; vector current is formed through vector superposition of the induction current of each channel, and the vector current acts on the target nuclei. The high-channel-number electrodes are adopted, programming control is carried out between the two electrodes, accurate control over current vectors is achieved, control over the magnitude and direction of target region nuclei stimulation current is accurately achieved through current vector superposition, therefore, a brain lesion area can be stimulated more accurately, meanwhile, the current vectors can be accurately controlled, and the stimulation effect of the brain lesion area is improved. And unnecessary current is prevented from diffusing to surrounding normal brain tissues, so that side effects caused by stimulation of a non-target area are reduced.

The invention discloses an integrated multi-mode transcranial electrical stimulation and high-intensity deep brain stimulation device, and belongs to the field of neuromedical treatment, in the device, a main control module is used for receiving data sent by a serial port display screen communication module and processing and analyzing the data, and then a signal source module is driven to output a target signal; the signal source module selectively outputs a transcranial alternating current stimulation waveform, a time intervention electrical stimulation waveform, a high-current phase modulation time intervention electrical stimulation waveform, a transcranial pulse electrical stimulation waveform and a transcranial direct current stimulation waveform based on a plurality of waveform generators and digital potentiometers; and the signal amplification and constant current output module is used for amplifying the waveform voltage signal output by the signal source module, converting the waveform voltage signal into a constant current signal and outputting the constant current signal to the output module. According to the invention, the electric field intensity generated by the stimulation current at the deep brain target spot is improved, so that the deep brain region is effectively stimulated, and a more remarkable stimulation intervention effect is achieved.

Disclosed are an electrical stimulation circuit, an electrical stimulation method, an electronic device, and a storage medium, where the electrical stimulation circuit includes: a timer for timing; a pulse width modulator connected to the timer, where a first pulse signal is generated when first trigger time set by the timer is up, and a second pulse signal is generated when second trigger time set by the timer is up; a driving circuit connected to the pulse width modulator, where the first pulse signal outputs a first stimulation current, the second pulse signal outputs a second stimulation current through the driving circuit, and the first stimulation current is opposite to the second stimulation current; and a stimulation electrode connected to the driving circuit, where the stimulation electrode is in contact with a plurality of stimulation positions, and configured for randomly outputting the first stimulation current and the second stimulation current.

The polarity-adjustable non-invasive deep brain electrical stimulation system comprises a waveform generation module which generates a first frequency waveform by using a first signal generator and generates a second frequency waveform by using a second signal generator; the waveform rectification module is used for performing full-wave rectification on the first frequency waveform and the second frequency waveform by using a first rectification assembly and a second rectification assembly to obtain a first rectification waveform and a second rectification waveform; the first rectification waveform and the second rectification waveform pass through a first current stabilization assembly and a second current stabilization assembly to obtain a first stimulation waveform and a second stimulation waveform; and outputting the stimulation waveform to a stimulation target spot by using the stimulation electrode so as to generate a stimulation waveform with low frequency envelope in the deep brain part. According to the invention, the polarity-adjustable time interference waveform is obtained through the stimulation current rectification, so that the low-frequency envelope current with different polarities is utilized to selectively apply suitable electrical stimulation for different brain abnormal activity characteristics, and the pertinence and effectiveness of the electrical stimulation are improved.

The application belongs to the technical field of biomedical engineering and neural regulation technology. A brain-heart linkage transcranial strong alternating current stimulation feedback control method and system are provided. Heart rate variability characteristics are obtained according to electroencephalogram signals, electroencephalogram signal characteristics are obtained according to the electroencephalogram signals, and a dynamic coupling index is determined according to the electroencephalogram signals and electrocardiogram signals. When the heart rate variability characteristics are greater than or equal to a corresponding heart rate characteristic baseline threshold, the electroencephalogram signal characteristics are greater than or equal to a corresponding electroencephalogram characteristic baseline threshold, and the dynamic coupling index is greater than or equal to a set threshold, it is determined that emotional disorders are improved, and the intensity of the stimulation current is unchanged. Otherwise, the intensity of the stimulation current is increased by a set threshold until the emotional disorders are improved. Through joint calculation of the electroencephalogram signals and the electrocardiogram signals, dynamic monitoring and accurate evaluation of the process of treating emotional disorders by using transcranial strong alternating current stimulation are realized, and the accuracy of the electric stimulation is ensured.

Differential charge-balancing can be used in high-frequency neural stimulation. For example, a neural stimulation apparatus can have first and second electrodes configured to be coupled proximate to a nerve fiber to implement a neural stimulation procedure. A neural stimulation circuit can be electrically coupled to the first and second electrodes. The neural stimulation circuit can apply stimulation currents to the nerve fiber through the first and second electrodes during a first stimulation phase of the neural stimulation procedure. The neural stimulation circuit can also apply a modified stimulation current to the nerve fiber through the first electrode during a second stimulation phase of the neural stimulation procedure. The modified stimulation current can be generated based on a difference between (i) a voltage at the first electrode, and (ii) a reference voltage derived from voltages on the first and second electrodes.

A method of controlling a neural stimulus, the neural stimulus being defined by at least one stimulus intensity parameter. The method comprises, generating a stimulus intensity parameter to control a stimulator that generates a stimulus current for application to a tissue, measuring a response of the tissue, evoked by the stimulus current, determining a response parameter indicative of the measured response, in response to the response parameter being less than a first threshold, setting the stimulus intensity parameter to a desired stimulus intensity level; and in response to the response parameter being greater than a second threshold, adjust the stimulus intensity parameter according to a feedback variable derived from the measured response.

The detection system of individual transcranial alternating current stimulation current amplitude threshold and frequency band range relates to the technical field of data identification, recording and processing in medical instrument and meter technology. It comprises: an upper computer which sends stimulation parameters to a stimulator, receives and stores detection information sent by the stimulator; a control keyboard which obtains stimulation sensitivity of an individual under current stimulation and transmits to the stimulator; and the stimulator which adjusts alternating stimulation current parameters, obtains a frequency band range supplement interval in a frequency adjustment stage, adjusts stimulation current amplitude value based on a fuzzy control algorithm according to a frequency band range proportion and stimulation sensitivity in an amplitude adjustment stage, and repeatedly and alternately carries out the frequency adjustment stage and the amplitude adjustment stage until the current amplitude threshold of the individual is detected or the upper limit of test time is reached. The present application is suitable for threshold detection under different frequency bands, and the current amplitude change is improved in two aspects of direction and size, which will improve the practicability and accuracy of the detection system.

The invention provides a state evaluation method and system for an invasive brain-computer interface system and a medium. The method comprises the following steps: randomly generating a test sequence, wherein the test sequence comprises a plurality of stimulation current intensity values; each stimulation current intensity value is sequentially sent to the extracorporeal machine, a body surface artifact signal is synchronously obtained, and when the extracorporeal machine receives the stimulation current intensity value every time, a corresponding stimulation instruction is generated and sent to the implant so as to control the implant to apply electrical stimulation according to the stimulation current intensity value; based on the body surface artifact signal corresponding to each stimulation current intensity value, a state evaluation result of the invasive brain-computer interface system is generated, and the state evaluation result comprises at least one of signal validity, a signal amplitude abnormal condition and a waveform distortion condition. The method objectively and accurately evaluates the working state of the invasive brain-computer interface system.

In a battery monitoring circuit, a current path provides a stimulus current to flow through a battery in multiple time windows including a first time window and second time window. Stimulus circuitry generates a signal, including information for a waveform, to control the current path, thereby changing the stimulus current, and sets a stimulus frequency of the waveform to a first value in the first time window, and to a second value in the second time window. In each time window, the sampling circuitry performs operations including: measuring a voltage of the battery at a sampling frequency, higher than the stimulus frequency, to obtain voltage values; measuring a controllable current (including the stimulus current) synchronously with the measuring of the voltage to obtain current values; and generating EIS data based on voltage and current values. The sampling circuitry provides the EIS data to a controller to perform an EIS analysis.

The application discloses a kind of intracranial charged dispersion electric stimulation devices for depression, belong to transcranial electric stimulation field;A kind of intracranial charged dispersion electric stimulation devices for depression includes hat shell and electric stimulation main body, first round hole is opened in hat shell, electric stimulation main body includes the power supply box of cooperation installation with first round hole, at least six elastic metal supports are arranged around power supply box and are distributed in circumference, two elastic metal supports end portions located in front and back are equipped with two permanent magnet fixed slots, and two magnetic pole opposite permanent magnets are fixed respectively;The electrode assembly is installed in the end portion of the remaining multiple elastic metal supports located in left and right sides, and electrode piece capable of acting on brain is arranged on electrode assembly;Stimulating current can be generated between multiple electrode pieces, and current occurs charged dispersion in intracranial under the action of magnetic field generated by magnetic pole, and more parts such as amygdala, hippocampus can be stimulated.

An object of the present technology is to provide a nerve stimulation device, a nerve stimulation system, and a nerve stimulation method capable of applying abundant variations of electrical stimulation to a nerve with high accuracy without having wiring between the nerve stimulation device and an external power supply.SOLUTION: The nerve stimulation device includes a power receiving unit 130, a stimulation electrode 150, and a stimulation current generating unit 140 that generates a stimulation current to be applied to the stimulation electrode 150. The power receiving unit 130, the stimulation electrode 150, and the stimulation current generating unit 140 can be implanted in a living body. The stimulation electrode 150 is electrically connected to a nerve in a living body. The stimulation current generating unit 140 has a stimulation current pattern selecting part 143 for selecting a stimulation current pattern based on the change of the frequency when the power receiving unit 130 receives the power, and a stimulation current generating part 144 for generating the stimulation current based on the stimulation current pattern.SELECTED DRAWING: Figure 2

The invention discloses an operative neutral nerve monitoring system, aims to fill the blank of special equipment for asexual nerve monitoring in the prior art, and solves the problems of large occupied space, complicated operation, difficult signal acquisition and uncertainty caused by splicing use of a plurality of pieces of equipment in the prior art. The monitoring system comprises a monitoring module, a stimulation module and an acquisition module, the detection module is used for controlling the stimulation module and the acquisition module; the stimulation module is used for transmitting the stimulation current of the detection module to nerve and blood vessel bundles around the to-be-monitored part, and the stimulation current induces pressure change in a cavernous body of the to-be-detected part; the acquisition module is used for acquiring pressure change data in a sponge body of a to-be-detected part and transmitting the pressure change data to the detection module. In the operation, stimulation current is applied to nerve and blood vessel bundles around a to-be-monitored part to induce cavernous body pressure change, and the acquisition module detects the pressure change in the cavernous body and transmits data back to the host.

The utility model discloses an electrical stimulation intensity and negative pressure linkage control system and an electrical stimulation therapeutic apparatus, and relates to the field of electrode control. An electrical stimulation signal generation module, a current detection module and a control module form a closed-loop control loop for generating an electrical stimulation signal; the air pump, the air pressure detection module and the control module form a closed-loop control loop of the pressure in the suction cup of the target electrode, the control module can flexibly adjust the intensity of an electrical stimulation signal and the negative pressure condition in the suction cup of the target electrode according to treatment requirements, and therefore the skin problems caused by the fact that the negative pressure value is constant all the time are avoided. In the treatment process, the negative pressure value in the electrode suction cup can also change along with the change of the stimulation current intensity of the electrical stimulation signal under the action of the control module, the negative pressure massage effect can be achieved, the output effect that negative pressure is matched with electrical stimulation to be mutually correlated can be generated, muscle blood circulation of a rehabilitation patient can be accelerated, and the rehabilitation effect is improved. The effects of enhancing analgesia and eliminating stimulation fatigue are achieved, and the user experience is improved.

The invention relates to the technical field of muscle electrical stimulation training, in particular to a pelvic floor muscle function regulation and control method for gynecology based on multi-frequency electrical stimulation. Obtaining electrical stimulation time sequence data, electromyographic signals and muscle pressure time sequence data in the pelvic floor muscle electrical stimulation process; on the basis of the local pressure change intensity and the electromyographic signal fluctuation complexity, quantifying a muscle fatigue index; the asynchronism coefficient of the electromyographic signals and the electrical stimulation time sequence is analyzed and calculated through frequency domain phase synchronism, the matching degree of the signals and muscle response is quantified, and the matching condition of the electrical stimulation transmission efficiency index, the characterization parameters and the physiological state is calculated in combination with the frequency domain difference of the electromyographic signals and preset signals and the muscle fatigue index; finally, based on a closed-loop regulation and control mechanism of a muscle fatigue index, an electrical stimulation transmission efficiency index and a pressure change index, the electrical stimulation current intensity and the switching frequency are dynamically adjusted, the problem of poor individual suitability is solved, real-time optimization of electrical stimulation parameters is achieved, and the regulation and control effect is enhanced.

The present invention provides an epidermal multimodal human-drone interfacing system which enable drone operation in dynamic and intricate environments. The interfacing system comprises: a base station configured to: receive hand orientation data of a user and obstacle data within a caution distance from a drone; and generate, on basis of a correlation of the hand orientation data and the obstacle data, respective control commands for providing tactile feedback to a user's fingers, stimulating multiple muscle groups of the user's arm and controlling the drone; a drone control tactile feedback (DCTF) module configured to: collect the hand orientation data of the user and deliver the tactile feedback to the user's fingers; and a neuromuscular electrical stimulation force feedback (NMESF) module configured to: collect obstacle data within the caution distance from the drone and deliver stimulation current to the multiple muscle groups of the user's arm.

The present invention discloses a thermo-thermal low-frequency therapeutic device with an automatic adjustment electric stimulation function, which relates to the technical field of therapeutic devices. The thermo-thermal low-frequency therapeutic device includes a supporting frame, a skin-cleaning device, an adjustment device, and a control host. The control host is electrically connected to the adjustment device, the skin-cleaning device is connected to the supporting frame, the skin-cleaning device is connected to the adjustment device, and the adjustment device is connected to the supporting frame. The control host is used to control the output of the stimulation current. The control host is used to provide a low-frequency pulse current and provides multiple interfaces. When performing electric stimulation treatment, the supporting frame serves as the main supporting base and is placed on the part of the human body to be stimulated. The skin-cleaning device is used to locally clean the part to be treated and provide warm air flow for local heating. After cleaning is completed, local electric stimulation is performed through the adjustment device.