WO2019061162A1

WO2019061162A1 - Method, device and system for assisting in collaborative rehabilitation of bilateral limbs

Info

Publication number: WO2019061162A1
Application number: PCT/CN2017/104020
Authority: WO
Inventors: 苗季; 熊晓明; 谢植刚; 胡晓翎; 王敏; 刘旭昭; 刘泰
Original assignee: 广州博厚医疗技术有限公司
Priority date: 2017-09-28
Filing date: 2017-09-28
Publication date: 2019-04-04

Abstract

A method, device and system for assisting in collaborative rehabilitation of bilateral limbs. The method comprises: step I (S11), obtaining an electromyographic signal of a limb to be rehabilitated (S201), and determining whether a user actively conducts a limb motion according to the electromyographic signal (S203); step II (S12, S204), if yes, comparing the electromyographic signal with a pre-stored motion signal, and determining a motion type of the current limb motion of the user according to the comparison result; step III (S13, S205), generating a first control instruction corresponding to the motion type, and controlling, according to the first control signal, a limb fixing support of a rehabilitation system to conduct a mechanical motion corresponding to the motion type; step IV (S207), further sending a start instruction to a neuromuscular electrical stimulation unit of the rehabilitation system so as to control the neuromuscular electrical stimulation unit to output an electrical signal with set strength to stimulate the limb to be rehabilitated; moreover, sending a second control instruction to the limb on the opposite side by means of a control handle, the second control instruction being adapted to work in concert with the first control instruction to complete a training task on a PC. According to the method, limb rehabilitation training can be conducted in combination with the active consciousness of users, and the method is beneficial to improvement of the training effect.

Description

辅助双側肢体协同康复的方法、装置及*** 技术领域 Method, device and system for assisting bilateral limbs to cooperate in rehabilitation

本发明涉及控制技术领域，特別是涉及辅助双侧肢体协同康复的方法、装置及***。背景技术 The present invention relates to the field of control technology, and in particular, to a method, device and system for assisting coordinated rehabilitation of bilateral limbs. Background technique

肢体康复***一般与 PC 连接使用，通过产生一定强度的脉冲电流来刺激患侧肢体的一組或多組肌肉，诱发肌肉运动或模拟正常的肢体动作，以达到改善或恢复被刺激肌肉或肌群功能的目的。但是，功能性电刺激***产生的诱发动作很难进行过程控制，如速度和运动轨迹等。而且，现有肢体康复***只能单纯的对用户进行被动式训练，在无用户意识参与的情况下机械的进行肢体的伸屈运动，不能够由用户主动意识驱动实现肢体康复训练，因此康复效果有待提高。发明内容 The limb rehabilitation system is generally used in conjunction with a PC to stimulate one or more groups of muscles of the affected limb by generating a pulse current of a certain intensity, inducing muscle movement or simulating normal limb movements to improve or restore the stimulated muscle or muscle group. The purpose of the function. However, the induced actions generated by functional electrical stimulation systems are difficult to control, such as speed and motion trajectories. Moreover, the existing limb rehabilitation system can only passively train the user, and mechanically perform the flexion and extension exercises of the limb without the participation of the user, and the physical rehabilitation training cannot be driven by the user's active consciousness, so the rehabilitation effect needs to be improve. Summary of the invention

基于此，本发明提供了辅助双侧肢体协同康复的方法、装置及***，能够结合用户主动意识，并利用多通道电刺激和机械辅助支架，对双侧肢体进行相协调的康复训练，有利于提升训练效果。 Based on this, the present invention provides a method, a device and a system for assisting the rehabilitation of bilateral limbs, which can combine the active consciousness of the user and utilize the multi-channel electrical stimulation and the mechanical auxiliary support to perform coordinated training on the bilateral limbs, which is beneficial to the rehabilitation. Improve training results.

本发明提供： The invention provides:

一种辅助双侧肢体协同康复的方法，包括： A method for assisting combined rehabilitation of bilateral limbs, comprising:

获取待康复肢体的肌电信号，根据所述肌电信号判断用户是否主动进行肢体动作；若是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型； Obtaining an electromyogram signal of the limb to be recovered, determining whether the user actively performs a limb motion according to the myoelectric signal; if yes, comparing the myoelectric signal with a pre-stored motion signal, and determining a motion of the user's current limb motion according to the comparison result Types of;

生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动； Generating a first manipulation instruction corresponding to the action type, and controlling a limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the action type;

所述辅助双侧肢体协同康复的方法还包括： The method for assisting the rehabilitation of the bilateral limbs further includes:

获取康复***手柄检测到的手柄操作信号根据所述手柄操作信号生成对应的第二操控指令，根据所述第二操控信号控制康复***的肢体固定支架做出与所述手柄操作信号对应的机械运动； Acquiring the handle operation signal detected by the handle of the rehabilitation system to generate a corresponding second manipulation command according to the handle operation signal, and controlling the limb fixation bracket of the rehabilitation system according to the second manipulation signal to perform mechanical movement corresponding to the operation signal of the handle ;

在控制康复***的肢体固定支架做出对应的机械运动之后，还包括： After controlling the mechanical movement of the limb fixation bracket of the rehabilitation system, the method further includes:

向康复***的神经肌肉电刺激单元发出启动指令，以控制所述神经肌肉电刺激单元输出设定强度的电信号刺激待康复肢体。 A start command is issued to the neuromuscular electrical stimulation unit of the rehabilitation system to control the neuromuscular electrical stimulation unit to output an electrical signal of a set intensity to stimulate the limb to be recovered.

可选地，根据所述肌电信号判断用户是否主动进行肢体动作之前，还包括： Optionally, before determining, according to the myoelectric signal, whether the user actively performs a limb motion, the method further includes:

对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理； Performing noise suppression, signal amplification, and/or analog to digital conversion processing on the myoelectric signal;

和 /或， and / or,

生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动，包括： Generating a first manipulation instruction corresponding to the action type, and controlling the limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the action type, including:

生成与所述动作类型对应的第一操控指令，向康复***的控制器发送所述第一操控指令，通过所述控制器控制对应的电机按照设定的速度和角度进行运作，通过所述电机带动肢体固定支架做出与所述动作类型对应的机械运动； Generating a first manipulation instruction corresponding to the action type, and transmitting the first manipulation instruction to a controller of the rehabilitation system, Controlling, by the controller, the corresponding motor to operate according to the set speed and angle, and driving the limb fixing bracket by the motor to make a mechanical motion corresponding to the action type;

和 /或， and / or,

所述预存的动作信号包括伸展动作信号、收屈动作信号以及扭动动作信号中的至少一种。一种辅助双侧肢体协同康复的装置，包括： The pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal. A device for assisting the rehabilitation of bilateral limbs, comprising:

肌电信号判断模块，用于获取待康复肢体的肌电信号，根据所述肌电信号判断用户是否主动进行肢体动作； The electromyography signal judging module is configured to obtain an electromyogram signal of the limb to be recovered, and determine whether the user actively performs the limb motion according to the electromyogram signal;

动作类型识別模块，用于若肌电信号判断模块的上述检测结果为是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型； The action type identifying module is configured to: if the above-mentioned detection result of the myoelectric signal judging module is yes, compare the electromyogram signal with the pre-stored action signal, and determine the action type of the user's current limb motion according to the comparison result;

第一康复控制模块，用于生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动； a first rehabilitation control module, configured to generate a first manipulation instruction corresponding to the action type, and control a limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the action type;

第二康复控制模块，用于获取康复***手柄检测到的手柄操作信号；根据所述手柄操作信号生成对应的第二操控指令，根据所述第二操控信号控制康复***的肢体固定支架做出与所述手柄操作信号对应的机械运动； a second rehabilitation control module, configured to acquire a handle operation signal detected by the handle of the rehabilitation system; generate a corresponding second manipulation command according to the handle operation signal, and control the limb fixation bracket of the rehabilitation system according to the second manipulation signal Mechanical motion corresponding to the handle operation signal;

以及，刺激控制模块，用于向康复***的神经肌肉电刺激单元发出启动指令，以控制所述神经肌肉电刺激单元输出设定强度的电信号刺激待康复肢体。 And a stimulation control module for issuing a start command to the neuromuscular electrical stimulation unit of the rehabilitation system to control the electrical signal output by the neuromuscular electrical stimulation unit to set the intensity to stimulate the limb to be recovered.

一种辅助双侧肢体协同康复的***，包括：控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架、 PC机和手柄； A system for assisting bilateral body limb rehabilitation includes: a controller, a neuromuscular electrical stimulation unit, an electromyographic signal detecting unit, a limb fixation bracket, a PC, and a handle;

所述神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述控制器连接，所述手柄连接 PC机，所述 PC机连接所述控制器； The neuromuscular electrical stimulation unit, the myoelectric signal detecting unit, and the limb fixing bracket are respectively connected to the controller, the handle is connected to the PC, and the PC is connected to the controller;

所述肌电信号检测单元，用于采集待康复肢体的肌电信号，并将采集到的肌电信号发送给控制器； The EMG signal detecting unit is configured to collect an EMG signal of the limb to be recovered, and send the collected EMG signal to the controller;

所述控制器，用于对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理，并将处理后的肌电信号发送给 PC机； The controller is configured to perform noise suppression, signal amplification, and/or analog-to-digital conversion processing on the EMG signal, and send the processed EMG signal to the PC;

所述 PC 机，用于接收待康复肢体的肌电信号，并根据所述肌电信号判断用户是否主动进行肢体动作，若是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型；以及生成与所述动作类型对应的第一操控指令，向控制器发送所述第一操控指令； The PC is configured to receive an electromyogram signal of a limb to be recovered, and determine, according to the myoelectric signal, whether the user actively performs a limb motion, and if so, compare the myoelectric signal with a pre-stored motion signal, according to the comparison Determining an action type of the current physical motion of the user; and generating a first manipulation instruction corresponding to the action type, and transmitting the first manipulation instruction to the controller;

所述控制器，还用于根据所述第一操控指令控制肢体固定支架做出与所述动作类型对应的机 ^戒运动； The controller is further configured to control the limb fixing bracket according to the first manipulation instruction to perform a machine motion corresponding to the action type;

所述手柄，用于检测用户的手柄操作信号，在检测到手柄操作信号时，将所述手柄操作信号发送给 PC机； The handle is configured to detect a handle operation signal of the user, and when the handle operation signal is detected, send the handle operation signal to the PC;

所述 PC 机，还用于根据所述手柄操作信号生成对应的第二操控指令，向所述控制器发出所述第二操控信号； The PC is further configured to generate a corresponding second control command according to the handle operation signal, and send the second control signal to the controller;

所述控制器，还用于根据所述第二操控信号控制肢体固定支架做出与所述手柄操作信号!于应的机 ^戒运动； The controller is further configured to control the limb fixing bracket to perform a signal with the handle operation according to the second manipulation signal;

所述控制器，还用于控制神经肌肉电刺激单元的开启 /关闭，所述神经肌肉电刺激单元在启动状态下周期性输出设定强度的电信号以刺激待康复肢体。 The controller is further configured to control on/off of a neuromuscular electrical stimulation unit, wherein the neuromuscular electrical stimulation unit is The electrical signal of the set intensity is periodically output in the activated state to stimulate the limb to be recovered.

可选地，所述肌电信号检测单元，包括依次连接的输入接口、集成差分运放单元、运算放大单元和输出接口，所述输入接口包括两个信号口，所述集成差分运放单元包括两个信号输入端和一个信号输出端，所述输入接口的两个信号口分別连接所述集成差分运放单元的两个信号输入端； Optionally, the EMG signal detecting unit includes an input interface sequentially connected, an integrated differential operational amplifier unit, an operational amplification unit, and an output interface, where the input interface includes two signal ports, and the integrated differential operational amplifier unit includes Two signal input ends and one signal output end, two signal ports of the input interface are respectively connected to two signal input ends of the integrated differential operational amplifier unit;

由所述输入接口输入的两个肌电信号，先经过所述集成差分运放单元进行差分放大，然后经过所述运算放大单元进行电压放大，最后通过所述输出接口输出。 The two myoelectric signals input by the input interface are differentially amplified by the integrated differential operational amplifier unit, then subjected to voltage amplification by the operational amplification unit, and finally output through the output interface.

可选地，所述运算放大单元包括四个信号输入端和两个信号输出端，其中，第一信号输入端、第二信号输入端以及第一信号输出端构成第一放大电路，第三信号输入端、第四信号输入端以及第二信号输出端构成第二放大电路； Optionally, the operational amplification unit includes four signal input ends and two signal output ends, wherein the first signal input end, the second signal input end, and the first signal output end constitute a first amplifying circuit, and the third signal The input end, the fourth signal input end and the second signal output end form a second amplifying circuit;

所述第一放大电路和所述第二放大电路相互独立的对输入的肌电信号进行电压放大，并相互独立的输出电压放大后的肌电信号给对应的输出接口。 The first amplifying circuit and the second amplifying circuit independently amplify the input myoelectric signals independently, and independently output the voltage-amplified myoelectric signals to the corresponding output interfaces.

可选地，所述集成差分运放单元包括：第一差动运放芯片以及电阻 R1 ; Optionally, the integrated differential operational amplifier unit includes: a first differential operational amplifier chip and a resistor R1;

第一差动运放芯片的第一输入引脚、第二输入引脚分別连接所述集成差分运放单元的两个信号输入端，第一差动运放芯片的电源正端连接供电电源端，第一差动运放芯片的电源负端连接 G D，第一差动运放芯片的第一 RG引脚通过电阻 R1连接第二 RG引脚；第一差动运放芯片的参考电压端连接参考地； The first input pin and the second input pin of the first differential operational amplifier chip are respectively connected to two signal input ends of the integrated differential operational amplifier unit, and the positive end of the first differential operational amplifier chip is connected to the power supply end The power supply negative terminal of the first differential operational amplifier chip is connected to the GD, and the first RG pin of the first differential operational amplifier chip is connected to the second RG pin through the resistor R1; the reference voltage end of the first differential operational amplifier chip is connected. Reference ground

所述运算放大单元包括运算放大器 U4 ; 运算放大器 U4 的电源正端连接供电电源端，运算放大器 U4 的电源负端连接 G D，运算放大器 U4 的第一输入引脚连接所述第一差动运放芯片的输出引脚，运算放大器 U4 的第二输入引脚连接所述第一差动运放芯片的参考电压端运算放大器 U4 的第一输出引脚连接一输出接口；运算放大器 U4 的第三输入引脚、第四输入引脚、第二输出引脚均空置。 The operational amplifier unit includes an operational amplifier U4; the positive terminal of the operational amplifier U4 is connected to the power supply terminal, the negative terminal of the operational amplifier U4 is connected to the GD, and the first input pin of the operational amplifier U4 is connected to the first differential operational amplifier. The output pin of the chip, the second input pin of the operational amplifier U4 is connected to the reference voltage terminal of the first differential operational amplifier chip, and the first output pin of the operational amplifier U4 is connected to an output interface; the third input of the operational amplifier U4 The pin, the fourth input pin, and the second output pin are all vacant.

可选地，还包括 USB电路，所述 USB电路与所述控制器连接， Optionally, a USB circuit is further included, and the USB circuit is connected to the controller,

所述 USB电路包括：一个 USB HUB模块和至少两个 USB功能模块；所述 USB HUB模块连接分別与所述至少两个 USB功能模块连接，所述 USB HUB模块还用于连接外部 PC的 USB接口； The USB circuit includes: a USB HUB module and at least two USB function modules; the USB HUB module connection is respectively connected to the at least two USB function modules, and the USB HUB module is further configured to connect a USB interface of an external PC. ;

其中，所述至少两个 USB功能模块包括： USB转 RS232模块、 USB转 RS485模块以及预留 USB主机接口模块。 The at least two USB function modules include: a USB to RS232 module, a USB to RS485 module, and a reserved USB host interface module.

可选地，所述 USB HUB模块包括： USB HUB芯片 U20、接口 P24、电容 C76、 C77、 C78、 C82、 C83、 C84、 C85、 C86、 C80，电阻 R73、 R82、 R77、 R79、 R80、 R105，发光二极管 D20，电感 L40，以及晶振 Y2; Optionally, the USB HUB module includes: a USB HUB chip U20, an interface P24, capacitors C76, C77, C78, C82, C83, C84, C85, C86, C80, resistors R73, R82, R77, R79, R80, R105 , LED D20, inductor L40, and crystal oscillator Y2;

USB HUB芯片 U20 的三个 AVDD脚分別通过电容 C76、电容 C77、电容 C82连接 GND， USB HUB芯片 U20 的 DVDD脚通过电容 C85连接 G D， USB HUB芯片 U20 的 V33脚通过电感 L40连接 3.3VGL端， USB HUB芯片 U20 的 DVDD脚还分別连接电容 C86—端、 3.3VGL端、电阻 R77—端、电阻 R79—端，电容 C86另一端连接 GND，电阻 R77另一端连接 USB HUB芯片 U20 的 PGANG脚，电阻 R79另一端连接发光二极管 D20正极，发光二极管 D20负极连接 USB HUB芯片 U20 的 PGANG脚； USB HUB芯片 U20 的 V5脚连接第一 USBV5端、电容 C80—端、电阻 R80—端，电容 C80另一端连接 GND，电阻 R80另一端分別连接电阻 R105—端、 USB HUB芯片 U20 的 PSELF脚，电阻 R105另一端连接 GND ; USB HUB芯片 U20 的 XI脚连接晶振 Y2一端、电容 C78—端， USB HUB芯片 U20 的 X2脚连接晶振 Y2另一端、电容 C83—端，电容 C78另一端、电容 C83另一端均连接 G D， USB HUB 芯片 U20 的 RREF脚通过电阻 R73连接 GND， USB HUB芯片 U20 的 RST脚连接电容 C84 一端、电阻 R82—端，电阻 R82另一端连接第一 USB5V端，电容 C84另一端连接 G D ; USB HUB芯片 U20 的 DM0脚、 DP0脚分別连接接口 P24的管脚 2、管脚 3， USB HUB芯片 U20 的 DM1脚、 DPI脚分別连接 USB转 RS232模块的 DM232信号端、 DP232信号端； USB HUB芯片 U20 的 DM2脚、 DP2脚分別连接 USB转 RS485模块的 DM485信号端、 DP485 信号端； USB HUB芯片 U20 的 DM3脚、 DP3脚、 DM4脚、 DP4脚均连接预留 USB主机接口模块； The three AVDD pins of the USB HUB chip U20 are connected to the GND through the capacitor C76, the capacitor C77, and the capacitor C82. The DVDD pin of the USB HUB chip U20 is connected to the GD through the capacitor C85, and the V33 pin of the USB HUB chip U20 is connected to the 3.3VGL terminal through the inductor L40. The DVDD of the USB HUB chip U20 is also connected to the capacitor C86-end, 3.3VGL terminal, resistor R77- terminal, and resistor R79- terminal. The other end of the capacitor C86 is connected to GND. The other end of the resistor R77 is connected to the PGANG pin of the USB HUB chip U20. The other end of the R79 is connected to the anode of the LED D20, and the cathode of the LED D20 is connected to the PGANG pin of the USB HUB chip U20; the V5 pin of the USB HUB chip U20 is connected first. USBV5 terminal, capacitor C80-terminal, resistor R80-terminal, capacitor C80 the other end is connected to GND, the other end of the resistor R80 is connected to the resistor R105-end, the USB HUB chip U20 PSELF pin, the other end of the resistor R105 is connected to GND; USB HUB chip U20 The XI pin is connected to the end of the crystal oscillator Y2, the capacitor C78-end, the X2 pin of the USB HUB chip U20 is connected to the other end of the crystal oscillator Y2, the capacitor C83-end, the other end of the capacitor C78, the other end of the capacitor C83 is connected to the GD, the RREF of the USB HUB chip U20 The pin is connected to GND through the resistor R73. The RST pin of the USB HUB chip U20 is connected to the end of the capacitor C84, the resistor R82-end, the other end of the resistor R82 is connected to the first USB5V terminal, and the other end of the capacitor C84 is connected to the GD; the DM0 pin of the USB HUB chip U20, DP0 The pins are respectively connected to the pin 2 and the pin 3 of the interface P24, and the DM1 pin and the DPI pin of the USB HUB chip U20 are respectively connected to the DM232 signal end and the DP232 signal end of the USB to RS232 module; the DM2 pin and the DP2 pin of the USB HUB chip U20 are respectively respectively Connect the DM485 signal terminal and DP485 signal terminal of the USB to RS485 module; the DM3 pin, DP3 pin, DM4 pin and DP4 pin of the USB HUB chip U20 are connected to the reserved USB host interface module;

所述 USB HUB模块还包括：第一匹配电路，第二匹配电路，电感 L36，电容 C65、C66、二极管 D22、 D23 ; The USB HUB module further includes: a first matching circuit, a second matching circuit, an inductor L36, capacitors C65, C66, diodes D22, D23;

接口 P24的管脚 2通过第一匹配电路连接 USB HUB芯片 U20 的 DM0脚，接口 P24的管脚 3通过第二匹配电路连接 USB HUB芯片 U20 的 DP0脚；接口 P24的管脚 1连接电感 L36—端，电感 L36另一端分別连接电容 C65—端、电容 C66—端、第一 USB5V端，电容 C65另一端、电容 C66另一端均连接 GND ; 接口 P24的管脚 2还连接二极管 D22负极，二极管 D22正极连接二极管 D23正极，二极管 D23 负极连接接口 P24的管脚 3，二极管 D22 正极还连接 G D，接口 P24的管脚 4连接 G D，接口 P24的管脚 5、管脚 6均连接 EGND。 The pin 2 of the interface P24 is connected to the DM0 pin of the USB HUB chip U20 through the first matching circuit, the pin 3 of the interface P24 is connected to the DP0 pin of the USB HUB chip U20 through the second matching circuit; the pin 1 of the interface P24 is connected to the inductor L36- On the other end, the other end of the inductor L36 is connected to the capacitor C65-terminal, the capacitor C66- terminal, the first USB5V terminal, the other end of the capacitor C65, and the other end of the capacitor C66 are connected to the GND; the pin 2 of the interface P24 is also connected to the diode D22 negative terminal, the diode D22 The positive pole is connected to the positive pole of the diode D23, the negative pole of the diode D23 is connected to the pin 3 of the interface P24, the positive pole of the diode D22 is also connected to the GD, the pin 4 of the interface P24 is connected to the GD, and the pin 5 and the pin 6 of the interface P24 are connected to the EGND.

可选地，还包括电源电路，所述控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述电源电路连接； Optionally, the method further includes a power circuit, wherein the controller, the neuromuscular electrical stimulation unit, the myoelectric signal detecting unit, and the limb fixing bracket are respectively connected to the power circuit;

所述电源电路包括：输入模块、第一管理模块和第二管理模块；所述输入模块的输入端连接电源，所述输入模块的输出端分別连接第一管理模块的输入端、第二管理模块的输入端；第一管理模块包括第一滤波电路和第一电压转换电路；第一滤波电路的输入端连接第一管理模块的输入端，第一滤波电路的输出端连接第一电压转换电路的输入端，所述第一滤波电路的输出端还连接驱动电机的供电端，第一电压转换电路的输出端连接第一类***负荷；第二管理模块包括第二滤波电路、第二电压转换电路和第三电压转换电路；第二滤波电路的输入端连接第二管理模块的输入端，第二滤波电路的输出端分別连接神经肌肉电刺激单元的供电端 VCC、第二电压转换电路的输入端，第二电压转换电路的输出端连接第三电压转换电路的输入端；所述第二电压转换电路的输出端还连接第二类***负荷，第三电压转换电路的输出端连接第三类***负荷；其中，所述第二电压转换电路的输出电压和第三电压转换电路的输出电压不同。 The power supply circuit includes: an input module, a first management module, and a second management module; an input end of the input module is connected to a power source, and an output end of the input module is respectively connected to an input end of the first management module and a second management module The first management module includes a first filter circuit and a first voltage conversion circuit; an input end of the first filter circuit is connected to an input end of the first management module, and an output end of the first filter circuit is connected to the first voltage conversion circuit An output end of the first filter circuit is further connected to a power supply end of the drive motor, and an output end of the first voltage conversion circuit is connected to the first type of system load; the second management module includes a second filter circuit and a second voltage conversion circuit And a third voltage conversion circuit; the input end of the second filter circuit is connected to the input end of the second management module, and the output end of the second filter circuit is respectively connected to the power supply terminal VCC of the neuromuscular electrical stimulation unit and the input end of the second voltage conversion circuit The output end of the second voltage conversion circuit is connected to the input end of the third voltage conversion circuit; The output of the voltage conversion circuit is further connected to the second type of system load, and the output of the third voltage conversion circuit is connected to the third type of system load; wherein, the output voltage of the second voltage conversion circuit and the output voltage of the third voltage conversion circuit different.

可选地，所述神经肌肉电刺激单元包括依次连接的单片机、电信号调节模块和输出接口，所述电信号调节模块包括电流调节电路和电压调节电路； Optionally, the neuromuscular electrical stimulation unit includes a single-chip microcomputer, an electrical signal adjustment module, and an output interface, which are sequentially connected, and the electrical signal adjustment module includes a current adjustment circuit and a voltage adjustment circuit;

所述单片机输出 PWM信号和控制信号，所述电流调节电路接收所述 PWM信号和控制信号，对所述 PWM信号进行电流放大，将电流放大后的 PWM信号输送至电压调节电路进行电压放大，最后通过所述输出接口输出；其中，所述电流调节电路包括驱动芯片，所述电压调节电路包括第一可调变压器和第二可调变压器； The single chip outputs a PWM signal and a control signal, the current adjustment circuit receives the PWM signal and the control signal, performs current amplification on the PWM signal, and supplies the current amplified PWM signal to a voltage adjustment circuit for voltage amplification, and finally Output through the output interface; The current adjustment circuit includes a driving chip, and the voltage adjustment circuit includes a first adjustable transformer and a second adjustable transformer;

所述驱动芯片的第一输入脚 IN1、第二输入脚 IN2分別连接单片机的第一 PWM信号输出脚 RA0、第二 PWM信号输出脚 RA1；所述驱动芯片的第三输入脚 IN3、第四输入脚 IN4 分別连接单片机的第三 PWM信号输出脚 RA2、第四 PWM信号输出脚 RA3 ; The first input pin IN1 and the second input pin IN2 of the driving chip are respectively connected to the first PWM signal output pin RA0 and the second PWM signal output pin RA1 of the single chip; the third input pin IN3 and the fourth input of the driving chip. The pin IN4 is respectively connected to the third PWM signal output pin RA2 and the fourth PWM signal output pin RA3 of the single chip microcomputer;

由所述驱动芯片的第一输入脚 IN1、第二输入脚 IN2输入的 PWM信号，通过驱动芯片的第一输出脚 OUT1和第二输出脚 OUT2输出至第一可调变压器；由所述驱动芯片的第三输入脚 IN3、第四输入脚 IN4输入的 PWM信号，通过驱动芯片的第三输出脚 OUT3和第四输出脚 OUT4输出至第二可调变压器；第一可调变压器、第二可调变压器分別与一个输出接口连接； a PWM signal input by the first input pin IN1 and the second input pin IN2 of the driving chip is output to the first adjustable transformer through the first output pin OUT1 and the second output pin OUT2 of the driving chip; The PWM signal input by the third input pin IN3 and the fourth input pin IN4 is output to the second adjustable transformer through the third output pin OUT3 and the fourth output pin OUT4 of the driving chip; the first adjustable transformer, the second adjustable The transformers are respectively connected to an output interface;

所述驱动芯片的公共端 G D均连接单片机的控制信号输出脚 RE0 ; 所述单片机输出的控制信号用于对所述驱动芯片的通电时间占空比进行控制，通过通电时间占空比的调节改变所述驱动芯片输出的 PWM信号的电流大小。 The common terminal GD of the driving chip is connected to the control signal output pin RE0 of the single chip microcomputer; the control signal output by the single chip is used to control the duty cycle of the driving chip, and the duty ratio of the power-on time is changed. The magnitude of the current of the PWM signal output by the driving chip.

可选地，所述电流调节电路还包括第一隔离电路和第二隔离电路；所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一隔离电路、第二隔离电路连接 PCB板的 VCC端；所述电流调节电路还包括第一电容 C33和第二电容 C24 ; 所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一电容 C33、第二电容 C24连接 PCB板的 GND端； Optionally, the current adjustment circuit further includes a first isolation circuit and a second isolation circuit; the first power input pin and the first power input pin of the driving chip are respectively connected to the PCB through the first isolation circuit and the second isolation circuit The VCC terminal of the board; the current regulating circuit further includes a first capacitor C33 and a second capacitor C24; the first power input pin and the first power input pin of the driving chip are respectively connected through the first capacitor C33 and the second capacitor C24 GND end of the PCB board;

所述电流调节电路还包括第一电阻 R5、第二电阻 R15、第三电阻 R6和第四电阻 R16 ; 所述驱动芯片的第一输入脚 IN1通过第一电阻 R5连接单片机的第一 PWM信号输出脚 RA0 ; 所述驱动芯片的第二输入脚 IN2通过第二电阻 R15连接单片机的第二 PWM信号输出脚 RA1 ; 所述驱动芯片的第三输入脚 IN3通过第三电阻 R16连接单片机的第三 PWM信号输出脚 RA2；所述驱动芯片的第四输入脚 IN4通过第四电阻 R16连接单片机的第四 PWM信号输出脚 RA3 ; The current regulating circuit further includes a first resistor R5, a second resistor R15, a third resistor R6 and a fourth resistor R16; the first input pin IN1 of the driving chip is connected to the first PWM signal output of the single chip through the first resistor R5 The second input pin IN2 of the driving chip is connected to the second PWM signal output pin RA1 of the single chip through the second resistor R15; the third input pin IN3 of the driving chip is connected to the third PWM of the single chip through the third resistor R16. The signal output pin RA2; the fourth input pin IN4 of the driving chip is connected to the fourth PWM signal output pin RA3 of the single chip through the fourth resistor R16;

所述电流调节电路还包括第五电阻 R12 ;所述驱动芯片的公共端 GND通过第五电阻 R12 连接单片机的控制信号输出脚 RE0; The current regulating circuit further includes a fifth resistor R12; the common terminal GND of the driving chip is connected to the control signal output pin RE0 of the single chip through the fifth resistor R12;

所述电流调节电路还包括第六电阻 R8 ;所述驱动芯片的公共端 GND还通过第六电阻 R8 连接 PCB板的 GND端； The current regulating circuit further includes a sixth resistor R8; the common terminal GND of the driving chip is further connected to the GND end of the PCB through a sixth resistor R8;

所述电流调节电路包括至少两个电信号调节模块；且每个电信号调节模块分別对应两个输出接口，每个电信号调节模块对应的两个输出接口输出的 PWM信号反相。 The current adjustment circuit includes at least two electrical signal adjustment modules; and each of the electrical signal adjustment modules respectively corresponds to two output interfaces, and the PWM signals output by the two output interfaces corresponding to each of the electrical signal adjustment modules are inverted.

一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述任一所述方法的步骤。 A computer apparatus comprising a memory, a processor, and a computer program stored on the memory and operative on the processor, the processor executing the program to implement the steps of any of the methods described above.

上述技术方案，获取待康复肢体的肌电信号，根据所述肌电信号判断用户是否主动进行肢体动作；若是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型；生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动。能够结合用户的主动意识，还能够通过手柄接收用户的操作信号，并根据用户主动意识控制肢体固定支架执行对应的机械运动，进而按照用户的意识驱动用户肢体进行康复训练，有利于提高肢体康复效果。附图说明 The technical solution of the present invention obtains an electromyogram signal of the limb to be recovered, and determines whether the user actively performs a limb motion according to the myoelectric signal; if yes, compares the myoelectric signal with a pre-stored motion signal, and determines the current user according to the comparison result. The action type of the limb motion; generating a first manipulation command corresponding to the action type, and controlling the limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the motion type. It can combine the user's initiative consciousness, and can also receive the user's operation signal through the handle, and perform the corresponding mechanical movement according to the user's initiative to control the limb fixation bracket, and then drive the user's limb to perform rehabilitation training according to the user's consciousness, which is beneficial to improve the limb rehabilitation effect. . DRAWINGS

图 1为一实施例的辅助双侧肢体协同康复的方法的流程示意图； 1 is a schematic flow chart of a method for assisting the rehabilitation of bilateral limbs in an embodiment;

图 2为另一实施例的辅助双侧肢体协同康复的方法的流程示意图； 2 is a schematic flow chart of a method for assisting the rehabilitation of bilateral limbs in another embodiment;

图 3为一实施例的辅助双侧肢体协同康复的装置的示意性结构图； Figure 3 is a schematic structural view of an apparatus for assisting the rehabilitation of bilateral limbs in an embodiment;

图 4为一实施例的辅助双侧肢体协同康复的***的示意性结构图； Figure 4 is a schematic structural view of a system for assisting the rehabilitation of bilateral limbs in an embodiment;

图 5为一实施例的肌电信号检测单元的示意性结构图； Figure 5 is a schematic structural view of an electromyogram signal detecting unit of an embodiment;

图 6为一可选实施例的肌电信号检测单元的示意性结构图； 6 is a schematic structural diagram of an electromyogram signal detecting unit of an alternative embodiment;

图 7为另一可选实施例的肌电信号检测单元的示意性结构图； 7 is a schematic structural view of an electromyogram signal detecting unit of another alternative embodiment;

图 8为又一可选实施例的肌电信号检测单元的示意性结构图； FIG. 8 is a schematic structural diagram of an electromyogram signal detecting unit of still another alternative embodiment; FIG.

图 9为又一可选实施例的肌电信号检测单元的示意性结构图； 9 is a schematic structural view of an electromyogram signal detecting unit of still another alternative embodiment;

图 10为一实施例的 USB电路的示意性结构图； FIG. 10 is a schematic structural diagram of a USB circuit according to an embodiment; FIG.

图 11为一实施例的 USB HUB模块的示意性结构图； 11 is a schematic structural diagram of a USB HUB module according to an embodiment;

图 12为一实施例的 USB转 RS232模块的示意性结构图； 12 is a schematic structural diagram of a USB to RS232 module according to an embodiment;

图 13为一实施例的 USB转 RS485模块的示意性结构图； 13 is a schematic structural diagram of a USB to RS485 module according to an embodiment;

图 14为一实施例的预留 USB主机接口模块的示意性结构图 14 is a schematic structural diagram of a reserved USB host interface module according to an embodiment.

图 15为一实施例的电源电路的示意性结构图； Figure 15 is a schematic structural view of a power supply circuit of an embodiment;

图 16为一实施例的电源电路中输入模块及第二管理模块的示意性结构图； 16 is a schematic structural diagram of an input module and a second management module in a power supply circuit according to an embodiment;

图 17为另一实施例的电源电路中输入模块及第二管理模块的示意性结构图； 17 is a schematic structural diagram of an input module and a second management module in a power supply circuit of another embodiment;

图 18为一实施例的电源电路中第一管理模块的示意性结构图； 18 is a schematic structural diagram of a first management module in a power supply circuit according to an embodiment;

图 19为一实施例的神经肌肉电刺激单元的示意性结构图； Figure 19 is a schematic structural view of a neuromuscular electrical stimulation unit of an embodiment;

图 20为一实施例的神经肌肉电刺激单元***号调节模块的示意性结构图； 20 is a schematic structural diagram of an electrical signal conditioning module in a neuromuscular electrical stimulation unit according to an embodiment;

图 21为另一实施例的神经肌肉电刺激单元***号调节模块的示意性结构图。具体实施方式 Figure 21 is a schematic structural view of an electrical signal conditioning module in a neuromuscular electrical stimulation unit of another embodiment. Detailed ways

为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

图 1为一实施例的辅助双侧肢体协同康复的方法的流程示意图；如图 1所示，所述实施例中辅助双侧肢体协同康复的方法包括： 1 is a schematic flow chart of a method for assisting the rehabilitation of bilateral limbs in an embodiment; as shown in FIG. 1, the method for assisting the rehabilitation of bilateral limbs in the embodiment includes:

Sll，获取待康复肢体的肌电信号，根据所述肌电信号判断用户是否主动进行肢体动作；可以理解的，用户主动进行肢体动作是相对而言的，指的是用户有意识的进行肢体动作，相反，若用户无意识驱动下，仅通过器械带动肢体运动，则为被动的运动。 S11, obtaining an electromyogram signal of the limb to be recovered, determining whether the user actively performs the limb movement according to the electromyogram signal; it is understood that the user actively performing the limb movement is relatively speaking, and the user is consciously performing the limb movement. Conversely, if the user drives the limbs only by the device, it is passive.

可选地，所述肌电采集单元可通过贴附在用户肢体表明的电极片采集待康复肢体的肌电信号，用户有意识的进行肢体运动时，肢体肌肉会发收紧，肌肉中的电信号会因此发生一定的变化；本发明实施例中检测的肌电信号可以是电压信号，也可以指电流信号。 Optionally, the myoelectric collecting unit can collect the electromyogram signal of the limb to be recovered by the electrode piece attached to the limb of the user. When the user consciously performs the limb movement, the limb muscles are tightened, and the electrical signal in the muscle is Therefore, certain changes may occur; the myoelectric signal detected in the embodiment of the present invention may be a voltage signal or a current signal.

S12, 若是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型； S12, if yes, comparing the myoelectric signal with the pre-stored action signal, and determining the current limb of the user according to the comparison result The type of action of the body action;

可选地，所述预存的动作信号包括伸展动作信号、收屈动作信号以及扭动动作信号中的至少一种。通过该步骤，可确定用户当前希望进行的肢体运动是伸展动作还是收屈动作，或者是扭动动作，进而可控制肢体固定支架做出对应的动作。 Optionally, the pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal. Through this step, it can be determined whether the limb movement currently desired by the user is a stretching motion or a flexing motion, or a twisting motion, thereby controlling the limb fixing bracket to perform a corresponding motion.

S 13 , 生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动。 S13, generating a first manipulation instruction corresponding to the action type, and controlling a limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the action type.

可以理解的，上述步骤 S11 S13的执行主体可均为 PC机，或者为康复***的控制器。在一实施例中，当上述步骤 S 11 S 13的执行主体可均为 PC机时，所述步骤 S 13的具体实现方式可为： PC机生成与所述动作类型对应的第一操控指令，向康复***的控制器发送所述第一操控指令，通过所述控制器控制对应的电机按照设定的速度和角度进行运作，进而通过所述电机带动肢体固定支架做出与所述动作类型对应的机械运动。 It can be understood that the execution bodies of the above steps S11 to S13 may all be PCs or controllers of the rehabilitation system. In an embodiment, when the execution bodies of the foregoing steps S 11 S 13 are all PCs, the specific implementation manner of the step S 13 may be: the PC generates a first manipulation instruction corresponding to the action type, Transmitting, by the controller of the rehabilitation system, the first manipulation instruction, and controlling, by the controller, the corresponding motor to operate according to the set speed and angle, and then driving the limb fixing bracket to correspond to the action type by the motor Mechanical movement.

在一实施例中，当上述步骤 S11 S13的执行主体可均为康复***的控制器时，所述步骤 S 13 的具体实现方式可为：控制器生成与所述动作类型对应的第一操控指令，向对应的电机发送所述第一操控指令，控制所述电机按照设定的速度和角度进行运作，进而通过所述电机带动肢体固定支架做出与所述动作类型对应的机械运动。 In an embodiment, when the execution bodies of the foregoing steps S11 to S13 are all the controllers of the rehabilitation system, the specific implementation of the step S 13 may be: the controller generates a first manipulation instruction corresponding to the action type. Sending the first manipulation command to the corresponding motor, controlling the motor to operate according to the set speed and angle, and then driving the limb fixing bracket by the motor to make mechanical motion corresponding to the action type.

通过上述实施例的辅助双侧肢体协同康复的方法，能够结合用户的主动意识，并根据用户主动意识控制肢体固定支架执行对应的机械运动，进而按照用户的意识驱动用户肢体进行康复训练。该康复过程包含机器与用户进行交互认知过程，能够达更好的康复效果。 Through the method of assisting the rehabilitation of the bilateral limbs in the above embodiment, the active consciousness of the user can be combined, and the corresponding mechanical movement can be performed according to the user's active consciousness to control the limb fixation bracket, and then the user's limb is driven to perform the rehabilitation training according to the user's consciousness. The rehabilitation process involves the interaction process between the machine and the user, which can achieve better rehabilitation results.

进一步地，如图 2所示，在另一实施例中，待康复肢体为用户的一侧肢体，另一侧肢体可协同参与手柄操作；所述辅助双侧肢体协同康复的方法流程包括步骤： Further, as shown in FIG. 2, in another embodiment, the limb to be recovered is a limb of the user, and the other limb can cooperate with the handle operation; and the method for assisting the rehabilitation of the bilateral limbs includes the following steps:

5201 , 获取待康复肢体的肌电信号； 5201, obtaining an electromyogram signal of the limb to be recovered;

5202, 对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理； 5202, performing noise suppression, signal amplification, and/or analog-to-digital conversion processing on the EMG signal;

5203 , 根据所述肌电信号判断用户是否主动进行肢体动作；若是，执行下一步，若否，结束。 5203, determining, according to the myoelectric signal, whether the user actively performs a limb movement; if yes, performing the next step, if not, ending.

S204, 将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型； S204, comparing the EMG signal with a pre-stored action signal, and determining a type of action of the user's current limb motion according to the comparison result;

5205 , 生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复*** 的肢体固定支架做出与所述动作类型对应的机械运动。 5205. Generate a first manipulation instruction corresponding to the action type, and control a limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the motion type.

5206, 获取康复***手柄检测到的手柄操作信号，根据所述手柄操作信号生成对应的第二操控指令，根据所述第二操控信号控制康复***的肢体固定支架做出与所述手柄操作信号!于应的机 ^戒运动。 5206: Acquire a handle operation signal detected by the handle of the rehabilitation system, generate a corresponding second manipulation command according to the handle operation signal, and control a limb fixation bracket of the rehabilitation system to perform an operation signal with the handle according to the second manipulation signal! Yu Ying's machine movement.

S 207，向康复***的神经肌肉电刺激单元发出启动指令，以控制所述神经肌肉电刺激单元输出设定强度的电信号刺激待康复肢体。 S207, issuing a start command to the neuromuscular electrical stimulation unit of the rehabilitation system to control the electrical signal of the neuromuscular electrical stimulation unit to output a set intensity to stimulate the limb to be recovered.

所述神经肌肉电刺激单元在启动状态下周期性输出设定强度的电信号以刺激待康复肢体。通过上述实施例，手柄操作信号来自于待康复肢体的对侧肢体的操控，如前后左右和按键的控制；第二操作指令既可取代第一操控指令对康复支架及电刺激对训练侧的控制，同时也可与第一操控制互补协同完成 PC 训练任务，如将第一操作指令转化为鼠标按键指令，而第二操控指令为对鼠标光标位置的控制，而协同完成一 PC游戏任务。通过双侧肢体的协作，相对于传统的单侧肢体训练更为有效。 The neuromuscular electrical stimulation unit periodically outputs an electrical signal of a set intensity in an activated state to stimulate a limb to be recovered. Through the above embodiment, the handle operation signal is from the manipulation of the contralateral limb of the limb to be recovered, such as the control of the front, rear, left and right and the button; the second operation command can replace the control of the rehabilitation bracket and the electrical stimulation on the training side instead of the first manipulation command. At the same time, it can complement the first operation control to complete the PC training task, such as converting the first operation instruction into a mouse button instruction, and The second manipulation command is a control of the position of the mouse cursor, and cooperates to complete a PC game task. Collaboration with the bilateral limbs is more effective than traditional unilateral limb training.

需要说明的是，上述步骤 S201~ S205 , 与步骤 S206的执行顺序不限于其步骤序号的顺序，可并发执行，或者先执行步骤 S206，再执行步骤 S201~ S205 ; 此外，步骤 S205、步骤 S206之后均可直接执行步骤 S207，即在结合用户意识驱动套袖支架运动或者根据手柄操作驱动套袖支架运动时，还可配合输出设定强度的电信号以刺激待康复肢体，进一步提高康复效果。 It should be noted that the execution steps of the above steps S201 to S205 and step S206 are not limited to the order of the step numbers, and may be executed concurrently, or step S206 is performed first, and then steps S201 to S205 are performed; further, after step S205 and step S206 Step S207 can be directly executed, that is, when the sleeve sleeve motion is driven in combination with the user consciousness or the sleeve sleeve motion is driven according to the handle operation, the electrical signal of the set strength can be output to stimulate the limb to be recovered, thereby further improving the rehabilitation effect.

可以理解的，上述肢体既可以指上肢，即手臂，也可以为下肢，即腿部。 It can be understood that the above limbs can be referred to as the upper limb, that is, the arm, or the lower limb, that is, the leg.

上述实施例的辅助双侧肢体协同康复的方法，在结合用户的主动意识驱动套袖支架运动时，还能够结合肌电检测技术，电机驱动技术和神经肌肉电刺激原理，能根据用户主动意识，执行相应指令，驱动用户手臂进行康复训练，能到达非常优秀的康复效果。 The method for assisting the rehabilitation of the bilateral limbs in the above embodiment can also combine the electromyography detection technology, the motor drive technology and the neuromuscular electrical stimulation principle according to the user's active consciousness to drive the sleeve sleeve movement, according to the user's active consciousness. Execute the corresponding instructions to drive the user's arm for rehabilitation training, which can achieve very good rehabilitation results.

基于与上述实施例中的辅助双侧肢体协同康复的方法相同的思想，本发明还提供辅助双侧肢体协同康复的装置，该装置可用于执行上述辅助双侧肢体协同康复的方法。为了便于说明，辅助双侧肢体协同康复的方法置实施例的结构示意图中，仅仅示出了与本发明实施例相关的部分，本领域技术人员可以理解，图示结构并不构成对装置的限定，可以包括比图示更多或更少的部件，或者組合某些部件，或者不同的部件布置。 Based on the same idea as the method of assisting the rehabilitation of the bilateral limbs in the above embodiment, the present invention also provides a device for assisting the coordinated rehabilitation of the bilateral limbs, which device can be used to perform the above-described method of assisting the rehabilitation of the bilateral limbs. For ease of explanation, the method for assisting the rehabilitation of the bilateral limbs is shown in the structural schematic of the embodiment, and only the parts related to the embodiment of the present invention are shown. Those skilled in the art can understand that the illustrated structure does not constitute a limitation of the device. It may include more or fewer components than shown, or some components may be combined, or different component arrangements.

图 3为本发明一实施例的辅助双侧肢体协同康复的装置的示意性结构图；如图 3所示，所述实施例的辅助双侧肢体协同康复的装置包括： 3 is a schematic structural view of an apparatus for assisting the rehabilitation of a bilateral limb in accordance with an embodiment of the present invention; as shown in FIG. 3, the apparatus for assisting the rehabilitation of the bilateral limbs of the embodiment includes:

肌电信号判断模块 301，用于获取待康复肢体的肌电信号，根据所述肌电信号判断用户是否主动进行肢体动作； The EMG signal judging module 301 is configured to obtain an EMG signal of the limb to be recovered, and determine, according to the EMG signal, whether the user actively performs a limb motion;

动作类型识別模块 302，用于若肌电信号判断模块的上述检测结果为是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型； The action type identifying module 302 is configured to: if the above-mentioned detection result of the myoelectric signal judging module is yes, compare the muscle signal with the pre-stored action signal, and determine the action type of the user's current limb motion according to the comparison result;

康复控制模块 303，用于生成与所述动作类型对应的第一操控指令，根据所述第一操控信号控制康复***的肢体固定支架做出与所述动作类型对应的机械运动。 The rehabilitation control module 303 is configured to generate a first manipulation instruction corresponding to the action type, and control the limb fixation bracket of the rehabilitation system according to the first manipulation signal to make a mechanical motion corresponding to the action type.

在一实施例中，所述肌电信号判断模块 301，还用于在根据所述肌电信号判断用户是否主动进行肢体动作之前，对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理。 In an embodiment, the EMG signal determining module 301 is further configured to perform noise suppression, signal amplification, and/or mode on the EMG signal before determining whether the user actively performs a limb motion according to the EMG signal. Number conversion processing.

在一实施例中，所述康复控制模块 303，用于生成与所述动作类型对应的第一操控指令，向康复***的控制器发送所述第一操控指令，通过所述控制器控制对应的电机按照设定的速度和角度进行运作，通过所述电机带动肢体固定支架做出与所述动作类型对应的机械运动。 In an embodiment, the rehabilitation control module 303 is configured to generate a first manipulation instruction corresponding to the action type, send the first manipulation instruction to a controller of the rehabilitation system, and control the corresponding The motor operates at a set speed and angle, and the motor mounts the limb fixation bracket to make a mechanical motion corresponding to the type of motion.

在一实施例中，所述预存的动作信号包括伸展动作信号、收屈动作信号以及扭动动作信号中的至少一种。 In one embodiment, the pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal.

在一实施例中，所述辅助双侧肢体协同康复的装置还包括： In an embodiment, the device for assisting the rehabilitation of the bilateral limbs further comprises:

电刺激模块，用于向康复***的神经肌肉电刺激单元发出启动指令，以控制所述神经肌肉电刺激单元输出设定强度的电信号刺激待康复肢体。 The electrical stimulation module is configured to issue a start command to the neuromuscular electrical stimulation unit of the rehabilitation system to control the electrical output signal of the neuromuscular electrical stimulation unit to output a set intensity to stimulate the limb to be recovered.

手柄信号检测模块，用于获取康复***手柄检测到的手柄操作信号； a handle signal detecting module, configured to acquire a handle operation signal detected by the handle of the rehabilitation system;

所述康复控制模块 303，还用于根据所述手柄操作信号生成对应的第二操控指令，根据所述第二操控信号控制康复***的肢体固定支架做出与所述手柄操作信号对应的机械运动。需要说明的是，上述示例的辅助双侧肢体协同康复的装置的实施方式中，各模块之间的信息交互、执行过程等内容，由于与本发明前述方法实施例基于同一构思，其带来的技术效果与本发明前述方法实施例相同，具体内容可参见本发明方法实施例中的叙述，此处不再贅述。 The rehabilitation control module 303 is further configured to generate a corresponding second manipulation command according to the handle operation signal, according to The second steering signal controls the limb fixation bracket of the rehabilitation system to make a mechanical motion corresponding to the handle operation signal. It should be noted that, in the embodiment of the apparatus for assisting the rehabilitation of the two-sided limbs in the above-mentioned example, the information interaction, the execution process, and the like between the modules are based on the same concept as the foregoing method embodiments of the present invention. The technical effects are the same as those of the foregoing method embodiments of the present invention. For details, refer to the description in the method embodiment of the present invention, and details are not described herein again.

图 4为本发明一实施例的辅助双侧肢体协同康复的***的示意性结构图；如图 4所示，所述实施例的辅助双侧肢体协同康复的***包括：控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架、 PC机和手柄；所述神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述控制器连接，所述手柄连接 PC机，所述 PC机连接所述控制器。 4 is a schematic structural view of a system for assisting the rehabilitation of bilateral limbs according to an embodiment of the present invention; as shown in FIG. 4, the system for assisting the rehabilitation of bilateral limbs in the embodiment includes: a controller, a neuromuscular device a stimulation unit, an electromyography signal detection unit, a limb fixation bracket, a PC machine, and a handle; the neuromuscular electrical stimulation unit, the myoelectric signal detection unit, and the limb fixation bracket are respectively connected to the controller, and the handle is connected to the PC, The PC is connected to the controller.

其中，所述肌电信号检测单元，用于采集待康复肢体的肌电信号，并将采集到的肌电信号发送给控制器；所述控制器，用于对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理，并将处理后的肌电信号发送给 PC机；所述 PC机，用于获取待康复肢体的肌电信号，并根据所述肌电信号判断用户是否主动进行肢体动作，若是，将所述肌电信号与预存的动作信号进行对比，根据比对结果确定用户当前肢体动作的动作类型；以及生成与所述动作类型对应的第一操控指令，向控制器发送所述第一操控指令；所述控制器，还用于根据所述第一操控指令控制肢体固定支架做出与所述动作类型对应的机械运动。 The EMG signal detecting unit is configured to collect an EMG signal of the limb to be recovered, and send the collected EMG signal to the controller; the controller is configured to perform noise suppression on the EMG signal Transmitting and/or analog-to-digital conversion processing, and transmitting the processed myoelectric signal to the PC; the PC is configured to acquire an electromyogram signal of the limb to be recovered, and determine whether the user is based on the myoelectric signal Actively performing a limb motion, and if so, comparing the myoelectric signal with a pre-stored motion signal, determining an action type of the user's current limb motion based on the comparison result; and generating a first manipulation command corresponding to the action type, to control The controller sends the first manipulation instruction; the controller is further configured to control the limb fixation bracket according to the first manipulation instruction to make a mechanical motion corresponding to the action type.

其中，所述手柄，用于检测用户的手柄操作信号，在检测到手柄操作信号时，将所述手柄操作信号发送给 PC机；所述 PC机，还用于根据所述手柄操作信号生成对应的第二操控指令，向所述控制器发出所述第二操控信号；所述控制器，还用于根据所述第二操控信号控制肢体固定支架做出与所述手柄操作信号对应的机械运动。 The handle is configured to detect a handle operation signal of the user, and when the handle operation signal is detected, send the handle operation signal to the PC; the PC is further configured to generate a corresponding according to the handle operation signal a second control command, the second control signal is sent to the controller; the controller is further configured to control the limb fixing bracket to perform mechanical motion corresponding to the handle operation signal according to the second manipulation signal .

此外，所述控制器，还用于控制神经肌肉电刺激单元的开启 /关闭，所述神经肌肉电刺激单元在启动状态下周期性输出设定强度的电信号以刺激待康复肢体。 Furthermore, the controller is further configured to control on/off of a neuromuscular electrical stimulation unit that periodically outputs an electrical signal of a set intensity to activate a limb to be recovered in an activated state.

当用户有意识地驱动肢体肌肉的时候，可通过肌电信号检测单元收集到肢体肌肉的肌电信号，控制器将采集到肌电信号进行初步处理，如：噪声抑制，信号放大，模数转换等。然后将肌电信号以数字信号的形式上传至 PC 机进行肌电信号类型的比对处理，首先识別该肌电信号是否是由用户意识产生，然后分析信号类型是伸展动作还是收屈动作，根据信号处理结果，发送相应的控制信号到控制器，由控制器驱动电机按照设定的速度和角度辅助用户的肢体运动。同时，还通过神经肌肉电刺激单元输出设定强度的电刺激刺激用户的肌肉組织，引起用户肌肉收縮，恢复用户肌肉的力量感。整个过程完成对用户整个待康复肢体的主动训练过程，达到用户肢体功能再恢复的过程。 When the user consciously drives the limb muscles, the myoelectric signal of the limb muscles can be collected by the electromyography signal detecting unit, and the controller will collect the electromyogram signal for preliminary processing, such as: noise suppression, signal amplification, analog to digital conversion, etc. . Then, the EMG signal is uploaded to the PC as a digital signal for the comparison of the EMG signal types. First, it is identified whether the EMG signal is generated by the user consciousness, and then the signal type is analyzed as a stretching action or a bending action. According to the signal processing result, the corresponding control signal is sent to the controller, and the controller drives the motor to assist the user's limb movement according to the set speed and angle. At the same time, the neuromuscular electrical stimulation unit outputs an electrical stimulation of a set intensity to stimulate the muscle tissue of the user, causing the muscle contraction of the user and restoring the strength of the muscle of the user. The whole process completes the active training process for the user's entire body to be recovered, and the process of restoring the limb function of the user is achieved.

同时，该***还含有手柄操作功能，结合用户的主动训练功能，能够进行左右手协同训练，提高左右手运动的协调性。在主动训练的模式下，可通过 PC 机的鼠标将***模式切换到手柄操作模式，打开 PC 机端预设的训练游戏，用户用另一个功能相对健全的手对手柄进行操作，完成所述训练游戏设定的目标。在手柄操作过程中，手柄操作信息将传送给 PC机， PC机根据手柄操作信号发送相应的控制信号到控制器，再由控制器将信号分解，分別控制电机以设定的摆动角度和摆动速度辅助用户手臂运动，同时控制神经肌肉电刺激单元以设定强度的电刺激刺激用户的手臂肌肉。整个过程完成用户的左右手的协同训练，提高用户左右手操作的协调性。 At the same time, the system also has a handle operation function, combined with the user's active training function, can carry out left and right hand coordinated training to improve the coordination of left and right hand movements. In the active training mode, the system mode can be switched to the handle operation mode by the mouse of the PC, and the training game preset by the PC is opened, and the user operates the handle with another relatively powerful hand to complete the training. The goal set by the game. During the operation of the handle, the handle operation information will be transmitted to the PC. The PC sends a corresponding control signal to the controller according to the handle operation signal, and then the controller decomposes the signal to control the motor to set the swing angle and swing speed respectively. The user's arm movement is assisted, and the neuromuscular electrical stimulation unit is controlled to stimulate the user's arm muscles with a set intensity electrical stimulation. Throughout the process, the user's left and right hands are coordinated to improve the user's left and right hands. Operational coordination.

在一实施例中，结合图 4和图 5所示，所述神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述控制器连接，所述手柄连接 PC机，所述 PC机连接所述控制器；所述控制器通过驱动电机驱动肢体固定支架运动。 In an embodiment, as shown in FIG. 4 and FIG. 5, the neuromuscular electrical stimulation unit, the myoelectric signal detecting unit, and the limb fixing bracket are respectively connected to the controller, and the handle is connected to the PC, the PC. The controller is coupled to the controller; the controller drives the limb fixation bracket to move by the drive motor.

其中，所述肌电信号检测单元，包括依次连接的输入接口、集成差分运放单元、运算放大单元和输出接口。所述输入接口包括两个信号口，所述集成差分运放单元包括两个信号输入端和一个信号输出端，所述输入接口的两个信号口分別连接所述集成差分运放单元的两个信号输入端；由所述输入接口输入的两个肌电信号，先经过所述集成差分运放单元进行差分放大，然后经过所述运算放大单元进行电压放大，最后通过所述输出接口输出。如果输入接口输入的肌电信号受到干扰信号，则输入接口输入的两个肌电信号均包含相同的干扰，通过集成差分运放单元对两个肌电信号进行差分放大，使得干扰信号的有效输入变为零，并且由于集成差分运放单元的稳定性好，因此能够达到了完全抗共模干扰的目的。通过该肌电信号检测单元，通过设置包括依次连接的输入接口、集成差分运放单元、运算放大单元和输出接口，所述输入接口包括两个信号口，所述集成差分运放单元包括两个信号输入端和一个信号输出端，所述输入接口的两个信号口分別连接所述集成差分运放单元的两个信号输入端。由所述输入接口输入的两个肌电信号，先经过所述集成差分运放单元进行差分放大，然后经过所述运算放大单元进行电压放大，最后通过所述输出接口输出与外部处理器电路的额定电压对应的肌电信号。本实用新型的肌电信号检测单元，较之于传统的肌电信号检测单元，能够完全抗共模干扰，并且电路复杂度低，稳定性好。 The EMG signal detecting unit includes an input interface sequentially connected, an integrated differential operational amplifier unit, an operation amplification unit, and an output interface. The input interface includes two signal ports, the integrated differential operational amplifier unit includes two signal input ends and one signal output end, and two signal ports of the input interface are respectively connected to two of the integrated differential operational amplifier units a signal input end; the two myoelectric signals input by the input interface are differentially amplified by the integrated differential operational amplifier unit, then subjected to voltage amplification by the operational amplification unit, and finally output through the output interface. If the EMG signal input to the input interface is interfered with, the two EMG signals input by the input interface contain the same interference, and the two EMG signals are differentially amplified by the integrated differential operational amplifier unit, so that the effective input of the interference signal It becomes zero, and because of the stability of the integrated differential op amp unit, it can achieve the goal of completely anti-common mode interference. By the EMG signal detecting unit, the input interface includes two signal ports, and the integrated differential operational amplifier unit includes two input ports including an input interface, an integrated differential operational amplifier unit, an operational amplification unit, and an output interface. a signal input end and a signal output end, wherein the two signal ports of the input interface are respectively connected to the two signal input ends of the integrated differential operational amplifier unit. The two myoelectric signals input by the input interface are differentially amplified by the integrated differential operational amplifier unit, then subjected to voltage amplification by the operational amplification unit, and finally outputted to the external processor circuit through the output interface. The myoelectric signal corresponding to the rated voltage. The myoelectric signal detecting unit of the utility model can completely resist common mode interference compared with the traditional electromyographic signal detecting unit, and has low circuit complexity and good stability.

当用户有意识的驱动肢体肌肉的时候，该***的控制器通过肌电信号检测单元收集到肢体肌肉的肌电信号（即肌电电压信号），控制器将采集到肌电信号进行初步处理，例如：噪声抑制、信号放大、模数转换等。然后将肌电信号以数字信号的形式上传至 PC机， PC机识別肌电信号是否是由用户意识产生，并识別用户意识为伸展动作还是收屈动作，发送相应的控制信号到控制器，再由控制器驱动电机按照设定的速度和角度带动肢体固定支架运作，进而实现了根据用户意识辅助肢体运动；同时通过神经肌肉电刺激单元将设定好强度的电刺激刺激用户的肌肉組织，引起用户肌肉收縮，恢复用户肌肉的力量感。整个过程完成该***对用户整个手臂的主动训练过程，已达到用户肢体功能再恢复的过程。 When the user consciously drives the limb muscles, the controller of the system collects the myoelectric signals of the limb muscles (ie, the myoelectric voltage signal) through the electromyography signal detecting unit, and the controller collects the myoelectric signals for preliminary processing, for example. : Noise suppression, signal amplification, analog to digital conversion, etc. Then, the EMG signal is uploaded to the PC as a digital signal. The PC recognizes whether the EMG signal is generated by the user's consciousness, and recognizes the user's consciousness as a stretching action or a bending action, and sends a corresponding control signal to the controller. Then, the controller drives the motor to drive the limb fixing bracket according to the set speed and angle, thereby realizing the limb movement according to the user's consciousness; and simultaneously stimulating the user's muscle tissue by the nerve muscle electrical stimulation unit to set the intensity of the electrical stimulation. , causing the user to contract muscles and restore the strength of the user's muscles. Throughout the process, the system completes the active training process for the user's entire arm, and the process of restoring the user's limb function has been achieved.

同时，由于该***含有手柄操作功能，结合用户主动训练的功能，能够进行左右手协同训练，提高左右手运动的协调性。在主动训练模式下，通过 PC机将操作模式切换到手柄操作模式，打开相应的训练游戏，用户可用另一个功能相对健全手对手柄进行操作，完成游戏设定的目标，实现对另一个待康复的上肢的康复训练。在手柄操作过程中，手柄将操作信息传送给 PC机， PC机根据手柄操作信号发送相应的控制信号到控制器，再由控制器将信号分解，分別控制电机以设定的摆动角度和摆动速度带动肢体固定支架运作，辅助用户手臂运动，同时通过神经肌肉电刺激单元以设定强度的电刺激刺激用户的手臂肌肉。整个过程完成用户的左右手的协同训练，提高用户左右手操作的协调性。 At the same time, because the system has a handle operation function, combined with the user's active training function, it can perform left-right hand coordination training to improve the coordination of left and right hand movements. In the active training mode, the operation mode is switched to the handle operation mode by the PC, and the corresponding training game is opened, and the user can operate the handle with a relatively sound hand with another function, complete the goal of the game setting, and realize the other to be recovered. Rehabilitation training for the upper limbs. During the operation of the handle, the handle transmits the operation information to the PC, and the PC sends a corresponding control signal to the controller according to the handle operation signal, and then the controller decomposes the signal to separately control the motor to set the swing angle and the swing speed. The limb fixation bracket is operated to assist the user's arm movement, and the muscle muscle of the user is stimulated by the neuromuscular electrical stimulation unit with a set intensity electrical stimulation. Throughout the process, the user's left and right hands are coordinated to improve the coordination of the user's left and right hands.

综上所述，该辅助双侧肢体协同康复的***能够结合用户意识，结合肌电信号检测单元的检测技术，电机驱动技术和神经肌肉电刺激原理，由此能根据用户主动意识执行相应辅助训练，驱动用户肢体进行康复训练。该治疗过程和人与外界进行交互认知过程相似，因此能到达传统辅助双侧肢体协同康复的***无法比拟的康复效果。 In summary, the system for assisting the rehabilitation of the bilateral limbs can be combined with the user's consciousness, combined with the detection technology of the electromyography signal detection unit, the motor drive technology and the principle of neuromuscular electrical stimulation, thereby enabling the corresponding assistance according to the user's active consciousness. Training, driving the user's limbs for rehabilitation training. The treatment process and the interaction process between the human and the outside world are similar, so that it can reach the rehabilitation effect that the traditional assisted bilateral limb cooperative rehabilitation system can not match.

在一实施例中，所述运算放大单元包括四个信号输入端和两个信号输出端，其中，第一信号输入端、第二信号输入端以及第一信号输出端构成第一放大电路，第三信号输入端、第四信号输入端以及第二信号输出端构成第二放大电路。所述第一放大电路和所述第二放大电路相互独立的对输入的肌电信号进行电压放大，并相互独立的输出电压放大后的肌电信号给对应的输出接口。即所述运算放大单元可选择为被两个集成差分运放单元共用，由此可进一步简化电路复杂度。 In an embodiment, the operational amplification unit includes four signal input terminals and two signal output terminals, wherein the first signal input terminal, the second signal input terminal, and the first signal output terminal constitute a first amplifying circuit, The three signal input terminal, the fourth signal input terminal and the second signal output terminal constitute a second amplifying circuit. The first amplifying circuit and the second amplifying circuit independently amplify the input myoelectric signals independently, and independently output the voltage-amplified myoelectric signals to the corresponding output interfaces. That is, the operational amplification unit can be selected to be shared by two integrated differential operational amplifier units, thereby further simplifying circuit complexity.

在一实施例中，参考图 6所示，所述集成差分运放单元包括：第一差动运放芯片 U1 以及电阻 Rl。 In an embodiment, referring to FIG. 6, the integrated differential operational amplifier unit includes: a first differential operational amplifier chip U1 and a resistor R1.

第一差动运放芯片 U1 的第一输入引脚 (即 Vin+引脚)、第二输入引脚（即 Vin-引脚）分別连接其所在的集成差分运放单元的两个信号输入端，第一差动运放芯片 U1的电源正端（即 V+引脚）连接供电电源端，第一差动运放芯片 U1的电源负端（即 V-引脚）连接 G D，第一差动运放芯片 U1的第一 RG引脚通过电阻 R1连接第二 RG引脚；第一差动运放芯片 U1的参考电压端（即 ref引脚）连接参考地； The first input pin (ie, the Vin+ pin) and the second input pin (ie, the Vin-pin) of the first differential operational amplifier chip U1 are respectively connected to the two signal inputs of the integrated differential operational amplifier unit. The positive terminal (ie, V+ pin) of the first differential operational amplifier chip U1 is connected to the power supply terminal, and the negative terminal (ie, V-pin) of the first differential operational amplifier chip U1 is connected to the GD, and the first differential operation The first RG pin of the chip U1 is connected to the second RG pin through the resistor R1; the reference voltage terminal of the first differential operational amplifier chip U1 (ie, the ref pin) is connected to the reference ground;

参考图 6所示，所述运算放大单元包括运算放大器 U4。运算放大器 U4 的电源正端（即 V+引脚）连接供电电源端，运算放大器 U4 的电源负端连接 G D，运算放大器 U4 的第一输入引脚（即 Ain-引脚）连接所述第一差动运放芯片 U1 的输出引脚（即 Vout引脚），运算放大器 U4 的第二输入引脚（即 Ain+引脚）连接所述第一差动运放芯片 U1的参考电压端（即 ref引脚），运算放大器 U4 的第一输出引脚（即 Aout引脚）连接一输出接口 RB0。运算放大器 U4的第三输入引脚（即 Bin-引脚）、第四输入引脚（即 Bin+引脚）、第二输出引脚（即 Bout 引脚）均空置。 Referring to Figure 6, the operational amplification unit includes an operational amplifier U4. The power supply positive terminal (ie, V+ pin) of the operational amplifier U4 is connected to the power supply terminal, the negative power terminal of the operational amplifier U4 is connected to the GD, and the first input pin of the operational amplifier U4 (ie, the Ain-pin) is connected to the first difference. The output pin of the operational amplifier chip U1 (ie, the Vout pin), the second input pin of the operational amplifier U4 (ie, the Ain+ pin) is connected to the reference voltage terminal of the first differential operational amplifier chip U1 (ie, ref Pin), the first output pin of the operational amplifier U4 (ie, the Aout pin) is connected to an output interface RB0. The third input pin (ie, the Bin- pin) of the operational amplifier U4, the fourth input pin (ie, the Bin+ pin), and the second output pin (ie, the Bout pin) are all vacant.

参考图 9所示，在另一实施例中，所述运算放大器 U4 的第三输入引脚连接第二差动运放芯片 U2的输出引脚（即 Vout引脚），运算放大器 U4 的第四输入引脚连接第二差动运放芯片 U2的参考电压端，运算放大器 U4 的第二输出引脚连接另一输出接口 RB2。即第一差动运放芯片 U1和第二差动运放芯片 U2共用所述运算放大器 U4，由此可进一步简化电路复杂度。 Referring to FIG. 9, in another embodiment, the third input pin of the operational amplifier U4 is connected to the output pin of the second differential operational amplifier chip U2 (ie, the Vout pin), and the fourth of the operational amplifier U4. The input pin is connected to the reference voltage terminal of the second differential operational amplifier chip U2, and the second output pin of the operational amplifier U4 is connected to the other output interface RB2. That is, the first differential operational amplifier chip U1 and the second differential operational amplifier chip U2 share the operational amplifier U4, thereby further simplifying the circuit complexity.

进一步地，参考图 7所示，在一实施例中，所述集成差分运放单元还包括：电容 C2、电容 C6、电容 C11、磁珠 L3，所述第一差动运放芯片 U1的电源正端还通过电容 C6连接 GND，第一差动运放芯片 U1的电源正端通过磁珠 L3连接供电电源端；所述第一差动运放芯片 U1 的电源正端还依次通过磁珠 L3、电容 C2连接参考地；第一差动运放芯片 U1 的参考电压端还通过电容 C11连接 GND。 Further, referring to FIG. 7, in an embodiment, the integrated differential operational amplifier unit further includes: a capacitor C2, a capacitor C6, a capacitor C11, a magnetic bead L3, and a power supply of the first differential op amp chip U1. The positive end is also connected to the GND through the capacitor C6. The positive end of the first differential op amp chip U1 is connected to the power supply terminal through the magnetic bead L3; the positive end of the first differential op amp chip U1 is sequentially passed through the magnetic bead L3. The capacitor C2 is connected to the reference ground; the reference voltage terminal of the first differential operational amplifier chip U1 is also connected to the GND through the capacitor C11.

继续参考图 7所示，在一实施例中，所述运算放大单元还包括电容 C5和磁珠 Ll，运算放大器 U4 的电源正端通过磁珠 L1连接供电电源端，运算放大器 U4的电源正端还通过电容 C5连接 G D。 With reference to FIG. 7, in an embodiment, the operational amplifying unit further includes a capacitor C5 and a magnetic bead L1. The positive end of the operational amplifier U4 is connected to the power supply terminal through the magnetic bead L1, and the power positive terminal of the operational amplifier U4. The GD is also connected via a capacitor C5.

在一实施例中，所述肌电信号检测单元还包括滤波电路。所述集成差分运放单元输出的肌电信号经过滤波电路处理之后进入所述运算放大单元进行电压放大。将肌电信号的共模噪音去掉，得到比较纯净有用的差模肌电信号，然后再进入运算放大单元。 In an embodiment, the myoelectric signal detecting unit further includes a filter circuit. The EMG signal output by the integrated differential operational amplifier unit is processed by the filter circuit and then enters the operational amplification unit for voltage amplification. Common mode noise of myoelectric signals The sound is removed, and a relatively pure and useful differential mode EMG signal is obtained, and then enters the operational amplification unit.

继续参考图 7所示，在一实施例中，所述滤波电路包括电容 C9、电阻 R14、电容 C4和电阻 R4。所述第一差动运放芯片 U1的输出引脚连接电容 C9的一端，电容 C9的另一端连接电阻 R14—端、电容 C4一端、电阻 R4—端以及运算放大器 U4 的 Ain-引脚；电阻 R14另一端连接第一差动运放芯片 U1的 ref 引脚，电容 C4另一端、电阻 R4另一端均连接运算放大器 U4 的 Aout引脚。所述第一差动运放芯片 U1、电容 C9、电阻 R14构成一高通滤波电路；所述运算放大器 U4、电容 C4和电阻 R4构成一低通滤波电路。 With continued reference to Figure 7, in one embodiment, the filter circuit includes a capacitor C9, a resistor R14, a capacitor C4, and a resistor R4. The output pin of the first differential operational amplifier chip U1 is connected to one end of the capacitor C9, and the other end of the capacitor C9 is connected to the resistor R14 terminal, the capacitor C4 terminal, the resistor R4 terminal, and the Ain- pin of the operational amplifier U4; The other end of R14 is connected to the ref pin of the first differential op amp chip U1, the other end of the capacitor C4, and the other end of the resistor R4 are connected to the Aout pin of the operational amplifier U4. The first differential operational amplifier chip U1, the capacitor C9 and the resistor R14 form a high-pass filter circuit; the operational amplifier U4, the capacitor C4 and the resistor R4 form a low-pass filter circuit.

可选地，参考图 8、图 9所示，所述滤波电路还包括电阻 R11 ; 电容 C9的另一端通过电阻 R11连接电容 C4一端、电阻 R4—端以及运算放大器 U4 的 Ain-引脚。 Optionally, referring to FIG. 8 and FIG. 9, the filter circuit further includes a resistor R11; the other end of the capacitor C9 is connected to one end of the capacitor C4, the resistor R4 terminal, and the Ain- pin of the operational amplifier U4 through a resistor R11.

可选地，在上述任一实施例中，供电电源端可为 5V，参考地端可为 2.5V。可以理解的，根据实际情况还可对所述供电电源和参考地的电压值进行调节。 Optionally, in any of the above embodiments, the power supply terminal may be 5V, and the reference ground may be 2.5V. It can be understood that the voltage values of the power supply and the reference ground can also be adjusted according to actual conditions.

在一实施例中，所述辅助双侧肢体协同康复的***还包括 USB电路，所述 USB电路与所述控制器连接。参考图 10所示，所述 USB电路包括：包括一个 USB HUB模块、至少两个 USB功能模块；所述 USB HUB模块连接分別与所述至少两个 USB功能模块连接，所述 USB HUB模块还用于连接外部 PC的 USB接口；所述至少两个 USB功能模块包括： USB转 RS232模块、 USB转 RS485模块以及预留 USB主机接口模块。 In an embodiment, the system for assisting the rehabilitation of the bilateral limbs further includes a USB circuit, and the USB circuit is coupled to the controller. Referring to FIG. 10, the USB circuit includes: a USB HUB module and at least two USB function modules; the USB HUB module connection is respectively connected to the at least two USB function modules, and the USB HUB module is further used. The USB interface connected to the external PC; the at least two USB function modules include: a USB to RS232 module, a USB to RS485 module, and a reserved USB host interface module.

所述至少两个 USB功能模块分別与 USB HUB模块连接后，经过 USB HUB芯片进行通信线路的集合，再将相关数据通过 USB HUB模块的 USB接口上传至 PC进行处理；或者， PC将相关的控制信号通过 USB HUB模块输入， USB HUB模块再将所述控制信号发送给对应的 USB功能模块。 After the at least two USB function modules are respectively connected to the USB HUB module, the USB HUB chip is used to collect the communication lines, and the related data is uploaded to the PC through the USB interface of the USB HUB module for processing; or, the PC controls the related The signal is input through the USB HUB module, and the USB HUB module transmits the control signal to the corresponding USB function module.

上述实施例的 USB电路，通过 USB HUB模块进行至少两个 USB功能模块的通信线路的集合，减少 USB连接线材，同时减少对外部 PC的 USB接口占用数量，此外，由于采用直接 PCB布线的工艺直接连接 USB HUB模块和至少两个 USB功能模块，避免接口间因为接触不良导致功能电路通信失败。 The USB circuit of the above embodiment performs the collection of communication lines of at least two USB function modules through the USB HUB module, reduces the USB connection wire, and reduces the number of USB interfaces occupied by the external PC, and further, directly adopts a process of direct PCB wiring. Connect the USB HUB module and at least two USB function modules to avoid failure of the functional circuit communication due to poor contact between the interfaces.

在一可选实施例中，参考图 11所示，所述 USB HUB模块包括： USB HUB芯片 U20、接口 P24、电容 C76、 C77、 C78、 C82、 C83、 C84、 C85、 C86、 C80，电阻 R73、 R82、 R77、 R79、 R80、 R105，发光二极管 D20，电感 L40，以及晶振 Y2;其中，接口 P24为 USB HUB 芯片 U20与外部 PC的 USB接口相连接的接口。 In an optional embodiment, referring to FIG. 11, the USB HUB module includes: a USB HUB chip U20, an interface P24, capacitors C76, C77, C78, C82, C83, C84, C85, C86, C80, and a resistor R73. , R82, R77, R79, R80, R105, LED D20, inductor L40, and crystal oscillator Y2; wherein, interface P24 is an interface between the USB HUB chip U20 and the USB interface of the external PC.

USB HUB芯片 U20 的三个 AVDD脚分別通过电容 C76、电容 C77、电容 C82连接 GND， USB HUB芯片 U20 的 DVDD脚通过电容 C85连接 G D， USB HUB芯片 U20 的 V33脚通过电感 L40连接 3.3VGL端， USB HUB芯片 U20 的 DVDD脚还分別连接电容 C86—端、 3.3VGL端、电阻 R77—端、电阻 R79—端，电容 C86另一端连接 GND，电阻 R77另一端连接 USB HUB芯片 U20 的 PGANG脚，电阻 R79另一端连接发光二极管 D20正极，发光二极管 D20负极连接 USB HUB芯片 U20 的 PGANG脚； USB HUB芯片 U20 的 V5脚连接第一 USBV5端、电容 C80—端、电阻 R80—端，电容 C80另一端连接 GND，电阻 R80另一端分別连接电阻 R105—端、 USB HUB芯片 U20 的 PSELF脚，电阻 R105另一端连接 GND ; USB HUB芯片 U20 的 XI脚连接晶振 Y2一端、电容 C78—端， USB HUB芯片 U20 的 X2脚连接晶振 Y2另一端、电容 C83—端，电容 C78另一端、电容 C83另一端均连接 G D， USB HUB 芯片 U20 的 RREF脚通过电阻 R73连接 GND， USB HUB芯片 U20 的 RST脚连接电容 C84 一端、电阻 R82—端，电阻 R82另一端连接第一 USB5V端，电容 C84另一端连接 G D ; USB HUB芯片 U20 的 DM0脚、 DP0脚分別连接接口 P24的管脚 2、管脚 3， USB HUB芯片 U20 的 DM1脚、 DPI脚分別连接 USB转 RS232模块的 DM232信号端、 DP232信号端； USB HUB芯片 U20 的 DM2脚、 DP2脚分別连接 USB转 RS485模块的 DM485信号端、 DP485 信号端； USB HUB芯片 U20 的 DM3脚、 DP3脚、 DM4脚、 DP4脚均连接预留 USB主机接口模块。 The three AVDD pins of the USB HUB chip U20 are connected to the GND through the capacitor C76, the capacitor C77, and the capacitor C82. The DVDD pin of the USB HUB chip U20 is connected to the GD through the capacitor C85, and the V33 pin of the USB HUB chip U20 is connected to the 3.3VGL terminal through the inductor L40. The DVDD of the USB HUB chip U20 is also connected to the capacitor C86-end, 3.3VGL terminal, resistor R77- terminal, and resistor R79- terminal. The other end of the capacitor C86 is connected to GND. The other end of the resistor R77 is connected to the PGANG pin of the USB HUB chip U20. The other end of the R79 is connected to the anode of the LED D20, and the cathode of the LED D20 is connected to the PGANG pin of the USB HUB chip U20; the V5 pin of the USB HUB chip U20 is connected to the first USBV5 terminal, the capacitor C80 terminal, the resistor R80 terminal, and the other end of the capacitor C80. GND, the other end of the resistor R80 is connected to the resistor R105-end, the PSELF pin of the USB HUB chip U20, and the other end of the resistor R105 is connected to the GND; the XI pin of the USB HUB chip U20 is connected to the end of the crystal oscillator Y2, the capacitor C78-end, and the USB HUB chip U20 X2 foot Connect the other end of the crystal oscillator Y2, the capacitor C83-end, the other end of the capacitor C78, and the other end of the capacitor C83 to GD. The RREF pin of the USB HUB chip U20 is connected to the GND through the resistor R73. The RST pin of the USB HUB chip U20 is connected to the C84 end of the capacitor. R82-terminal, the other end of the resistor R82 is connected to the first USB5V terminal, and the other end of the capacitor C84 is connected to the GD; the DM0 pin and the DP0 pin of the USB HUB chip U20 are respectively connected to the pin 2, the pin 3 of the interface P24, and the DM1 of the USB HUB chip U20 The foot and the DPI pin are respectively connected to the DM232 signal end and the DP232 signal end of the USB to RS232 module; the DM2 pin and the DP2 pin of the USB HUB chip U20 are respectively connected to the DM485 signal end and the DP485 signal end of the USB to RS485 module; the DM3 of the USB HUB chip U20 The foot, DP3 pin, DM4 pin, and DP4 pin are all connected to the reserved USB host interface module.

可选地，所述 USB HUB模块还包括：电阻 R87、 R86。其中，上述第一 USB5V端还依次通过电阻 R87、电阻 R86连接 GND。 Optionally, the USB HUB module further includes: resistors R87 and R86. The first USB5V terminal is also connected to the GND through the resistor R87 and the resistor R86.

在另一实施例中，继续参考图 11所示，所述 USB HUB模块还包括：第一匹配电路，第二匹配电路，电阻 R65、 R67，电感 L36，电容 C65、 C66、二极管 D22、 D23； In another embodiment, referring to FIG. 11, the USB HUB module further includes: a first matching circuit, a second matching circuit, resistors R65, R67, an inductor L36, capacitors C65, C66, diodes D22, D23;

接口 P24的管脚 1连接电感 L36—端，电感 L36另一端分別连接电容 C65—端、电容 C66—端、第一 USB5V端，电容 C65另一端、电容 C66另一端均连接 G D ; 接口 P24的管脚 2通过第一匹配电路连接 USB HUB芯片 U20 的 DM0脚，接口 P24的管脚 3通过第二匹配电路连接 USB HUB芯片 U20 的 DP0脚；接口 P24的管脚 2还连接二极管 D22负极，二极管 D22正极连接二极管 D23正极，二极管 D23 负极连接接口 P24的管脚 3，二极管 D22 正极还连接 G D，接口 P24的管脚 4连接 G D，接口 P24的管脚 5、管脚 6均连接 EGND。其中， GND是电路板的地线， EGND是大地。 The pin 1 of the interface P24 is connected to the end of the inductor L36, and the other end of the inductor L36 is connected to the capacitor C65- terminal, the capacitor C66- terminal, the first USB5V terminal, the other end of the capacitor C65, and the other end of the capacitor C66 are connected to the GD; the tube of the interface P24 The pin 2 is connected to the DM0 pin of the USB HUB chip U20 through the first matching circuit, the pin 3 of the interface P24 is connected to the DP0 pin of the USB HUB chip U20 through the second matching circuit; the pin 2 of the interface P24 is also connected to the negative pole of the diode D22, the diode D22 The positive pole is connected to the positive pole of the diode D23, the negative pole of the diode D23 is connected to the pin 3 of the interface P24, the positive pole of the diode D22 is also connected to the GD, the pin 4 of the interface P24 is connected to the GD, and the pin 5 and the pin 6 of the interface P24 are connected to the EGND. Where GND is the ground of the board and EGND is the ground.

可选地，上述第一匹配电路包括电阻 R65，上述第二匹配电路包括电阻 R67。即接口 P24 的管脚 2通过电阻 R65连接 USB HUB芯片 U20 的 DM0脚，接口 P24的管脚 3通过电阻 R67 连接 USB HUB芯片 U20 的 DP0脚。 Optionally, the first matching circuit includes a resistor R65, and the second matching circuit includes a resistor R67. That is, the pin 2 of the interface P24 is connected to the DM0 pin of the USB HUB chip U20 through the resistor R65, and the pin 3 of the interface P24 is connected to the DP0 pin of the USB HUB chip U20 through the resistor R67.

在一实施例中，参考图 12所示，所述 USB转 RS232模块包括： USB转 RS232芯片 U24，电容 C101、 C102、 C105、 C106、 C107、 C108，电阻 R94，电感 L48，晶振 Y3。 In an embodiment, referring to FIG. 12, the USB to RS232 module includes: USB to RS232 chip U24, capacitors C101, C102, C105, C106, C107, C108, resistor R94, inductor L48, crystal oscillator Y3.

USB转 RS232芯片 U24的 TXD脚、 RXD脚分別连接 TX1信号端、 RX1信号端， USB 转 RS232芯片 U24的 OSC1脚、 OSC2脚分別连接晶振 Y3—端、晶振 Y3另一端，晶振 Y3 一端、晶振 Y3另一端分別通过电容 C102、电容 C101连接 GND ; USB转 RS232芯片 U24 的 PLL_TEST脚连接 GND ; USB转 RS232芯片 U24的 VDD_5脚连接电容 C105—端、电感 L48—端，电容 C105另一端连接 GND，电感 L48另一端连接第二 USB5V端； USB转 RS232 芯片 U24的 RESET_N脚通过电阻 R94连接 3.3VPL端； USB转 RS232芯片 U24的 VO_33脚连接 3.3VPL端；该 3.3VPL端还分別通过电容 C106、电容 C107、电容 C108 连接 GND端； USB转 RS232芯片 U24的 DM脚、 DP脚分別连接所述 USB转 RS232模块的 DM232信号端、 DP232信号端。 USB to RS232 chip U24 TXD pin, RXD pin are connected to TX1 signal terminal, RX1 signal terminal, USB to RS232 chip U24 OSC1 pin, OSC2 pin are respectively connected to crystal Y3 terminal, crystal Y3 other end, crystal Y3 end, crystal oscillator Y3 The other end is connected to GND through capacitor C102 and capacitor C101 respectively; USB to RS232 chip U24 PLL_TEST pin is connected to GND; USB to RS232 chip U24 VDD_5 pin is connected to capacitor C105- terminal, inductor L48- terminal, capacitor C105 is connected to GND at other end, inductor The other end of the L48 is connected to the second USB5V terminal; the RESET_N pin of the USB to RS232 chip U24 is connected to the 3.3VPL terminal through the resistor R94; the VO_33 pin of the USB to RS232 chip U24 is connected to the 3.3VPL terminal; the 3.3VPL terminal also passes through the capacitor C106 and the capacitor C107 respectively. The capacitor C108 is connected to the GND terminal; the DM pin and the DP pin of the USB to RS232 chip U24 are respectively connected to the DM232 signal terminal and the DP232 signal terminal of the USB to RS232 module.

可选地，所述 USB转 RS232模块还包括电感 L43。上述第二 USB5V端通过电感 L43 连接 5V电源端。 Optionally, the USB to RS232 module further includes an inductor L43. The second USB5V terminal is connected to the 5V power supply terminal through the inductor L43.

进一步地，在一实施例中，所述 USB HUB模块还可包括：第三匹配电路和第四匹配电路。 USB HUB芯片 U20 的 DM1脚、 DPI脚分別通过第三匹配电路、第四匹配电路连接 USB 转 RS232模块的 DM232信号端、 DP232信号端。 Further, in an embodiment, the USB HUB module may further include: a third matching circuit and a fourth matching circuit. The DM1 pin and the DPI pin of the USB HUB chip U20 are connected to the USB through the third matching circuit and the fourth matching circuit, respectively. Transfer the DM232 signal end of the RS232 module and the DP232 signal end.

可选地，上述第三匹配电路包括电阻 R66，上述第四匹配电路包括电阻 R68。即 USB HUB 芯片 U20 的 DM1脚、 DPI脚分別通过电阻 R66、电阻 R68连接 USB转 RS232模块的 DM232 信号端、 DP232信号端。 Optionally, the third matching circuit includes a resistor R66, and the fourth matching circuit includes a resistor R68. That is, the DM1 pin and the DPI pin of the USB HUB chip U20 are respectively connected to the DM232 signal end and the DP232 signal end of the USB to RS232 module through the resistor R66 and the resistor R68.

在一实施例中，参考图 13所示，所述 USB转 RS485模块包括： USB转 RS485芯片 U19，电容 C62、 C63、 C70、 C71、 C72、 C73 , 发光二极管 D18、 D19，晶振 Yl，电感 L38. In an embodiment, referring to FIG. 13, the USB to RS485 module includes: USB to RS485 chip U19, capacitors C62, C63, C70, C71, C72, C73, LED D18, D19, crystal oscillator Yl, inductor L38 .

USB转 RS485芯片 U19的 VDD_325脚连接 3.3VFT端， USB转 RS485芯片 U19的 TXD 脚、 RXD脚分別连接 USBTX端、 USBRX1端； USB转 RS485芯片 U19的 OSC1脚、 OSC2 脚分別连接晶振 Y1—端、晶振 Y1另一端，晶振 Y1—端、晶振 Y1另一端分別通过电容 C63、电容 C62连接 G D； USB转 RS485芯片 U19的 PLL_TEST脚连接 G D， USB转 RS485芯片 U19的 G D脚通过电容 C70连接电感 L38—端， USB转 RS485芯片 U19的 VDD_5脚连接电感 L38—端，电感 L38另一端连接第三 USB5V端； USB转 RS485芯片 U19的 RESET_N 脚通过电阻 R69连接 3.3VFT端； USB转 RS485芯片 U19的 VO_33脚连接 3.3VFT端；所述 3.3VFT端还分別通过电容 C71、电容 C72、电容 C73 连接 GND端； USB转 RS485芯片 U19 的 DM脚、 DP脚分別连接所述 USB转 RS485模块的 DM485信号端、 DP485信号端； USB 转 RS485芯片 U19的 CBUS0脚、 CBUS1脚分別连接 TX1LED端、 RX1LED端。其中，第三 USB5V端还通过发光二极管 D18连接 TX1LED端，第三 USB5V端还通过发光二极管 D19 连接 RX1LED端。 USB to RS485 chip U19 VDD_325 pin is connected to 3.3VFT terminal, USB to RS485 chip U19 TXD pin, RXD pin are respectively connected to USBTX terminal, USBRX1 terminal; USB to RS485 chip U19 OSC1 pin, OSC2 pin are respectively connected to crystal oscillator Y1 - terminal, At the other end of the crystal oscillator Y1, the other end of the crystal oscillator Y1 - the crystal oscillator Y1 is connected to the GD through the capacitor C63 and the capacitor C62 respectively; the PLL_TEST pin of the USB to RS485 chip U19 is connected to the GD, and the GD pin of the USB to RS485 chip U19 is connected to the inductor L38 through the capacitor C70. Terminal, USB to RS485 chip U19 VDD_5 pin is connected to the inductor L38-end, the other end of the inductor L38 is connected to the third USB5V terminal; USB to RS485 chip U19 RESET_N pin is connected to the 3.3VFT terminal through the resistor R69; USB to RS485 chip U19 VO_33 pin Connected to the 3.3VFT terminal; the 3.3VFT terminal is also connected to the GND terminal through the capacitor C71, the capacitor C72, and the capacitor C73 respectively; the DM pin and the DP pin of the USB to RS485 chip U19 are respectively connected to the DM485 signal terminal of the USB to RS485 module, DP485 Signal terminal; USB to RS485 chip U19 CBUS0 pin, CBUS1 pin are connected to TX1LED terminal, RX1LED terminal. The third USB5V terminal is also connected to the TX1 LED terminal through the LED D18, and the third USB5V terminal is also connected to the RX1 LED terminal through the LED D19.

可选地，所述 USB转 RS485模块还包括：电阻 R61和电阻 R62。第三 USB5V端还依次通过电阻 R61、发光二极管 D18连接 TX1LED端，第三 USB5V端还通过电阻 R62、发光二极管 D19连接 RX1LED端。 Optionally, the USB to RS485 module further includes: a resistor R61 and a resistor R62. The third USB5V terminal is also connected to the TX1 LED terminal through the resistor R61 and the light-emitting diode D18, and the third USB5V terminal is also connected to the RX1 LED terminal through the resistor R62 and the light-emitting diode D19.

进一步地，在一实施例中，所述 USB HUB模块还包括：第五匹配电路和第六匹配电路； Further, in an embodiment, the USB HUB module further includes: a fifth matching circuit and a sixth matching circuit;

USB HUB芯片 U20 的 DM2脚、 DP2脚分別通过第五匹配电路、第六匹配电路连接 USB转USB HUB chip U20's DM2 pin and DP2 pin are connected to USB by the fifth matching circuit and the sixth matching circuit respectively.

RS485模块的 DM485信号端、 DP485信号端。 DM485 signal terminal and DP485 signal terminal of RS485 module.

可选地，上述第五匹配电路包括电阻 R63，上述第六匹配电路包括电阻 R64。即 USB HUB 芯片 U20 的 DM2脚、 DP2脚分別通过电阻 R63、电阻 R64连接 USB转 RS485模块的 DM485 信号端、 DP485信号端。 Optionally, the fifth matching circuit includes a resistor R63, and the sixth matching circuit includes a resistor R64. That is, the DM2 pin and DP2 pin of the USB HUB chip U20 are respectively connected to the DM485 signal end and the DP485 signal end of the USB to RS485 module through the resistor R63 and the resistor R64.

在一实施例中，参考图 14所示，所述预留 USB主机接口模块包括：緩存器 U21，接口 In an embodiment, referring to FIG. 14, the reserved USB host interface module includes: a buffer U21, an interface

P29, 电阻 R75、 R76、 R78 ; P29, resistance R75, R76, R78;

緩存器 U21的 Y1脚连接 NC7W端，緩存器 U21的 Y2脚通过电阻 R78连接接口 P29的管脚 2，緩存器 U21的 A1脚通过电阻 R76连接接口 P29的管脚 3，緩存器 U21的 A1脚还通过电阻 R75连接接口 P29的管脚 4，緩存器 U21的 A2脚连接 USBTX1端，緩存器 U21的 The Y1 pin of the buffer U21 is connected to the NC7W terminal, the Y2 pin of the buffer U21 is connected to the pin 2 of the interface P29 through the resistor R78, the A1 pin of the buffer U21 is connected to the pin 3 of the interface P29 through the resistor R76, and the A1 pin of the buffer U21 Also connected to the pin 4 of the interface P29 through the resistor R75, the A2 pin of the buffer U21 is connected to the USBTX1 terminal, the buffer U21

VCC脚连接 3.3VFT端；第四 USB5V端还通过电容 C79连接 GND，接口 P29的管脚 1连接可选地，所述预留 USB主机接口模块还包括电容 C79，第四 USB5V端还通过电容 C79 连接 G D。 The VCC pin is connected to the 3.3VFT terminal; the fourth USB5V terminal is also connected to the GND through the capacitor C79, and the pin 1 of the interface P29 is connected, the reserved USB host interface module further includes a capacitor C79, and the fourth USB5V terminal also passes through the capacitor C79. Connect GD.

可选地，所述预留 USB主机接口模块还包括电容 C81，与緩存器 U21的 VCC脚连接的 3.3VFT端还通过电容 C81连接 GND。 Optionally, the reserved USB host interface module further includes a capacitor C81 connected to the VCC pin of the buffer U21. The 3.3VFT terminal is also connected to GND through capacitor C81.

基于上述实施例以及图 11〜图 14示例的 USB电路结构，至少两个 USB功能模块通过 USB HUB模块对外部 PC使用 USB功能的电路进行通信线路的集合。其中， USB转 RS232模块和 USB转 RS485模块直接与 HUS HUB模块相连接，预留 USB主机接口作为其他 USB接口的功能电路预留接口，外部电路需连接辅助双侧肢体协同康复的***的 USB接口时，直接连接至所述预留 USB主机接口模块即可，多个 USB功能模块与 USB HUB模块进行连接后，经过 USB HUB模块进行通信线路的集合，再将相关数据通过 USB HUB模块的 USB接口上传至 PC机进行处理。或者 PC机将相关的控制信号通过 USB HUB模块的 USB接口输入，通过 USB HUB模块再将相关的控制信号分別发送给对应的 USB功能模块。接口 P24为 USB HUB芯片 U20与 PC的 USB接口相连接的接口，接口 P24管脚 2和 3分別与 USB HUB芯片 U20的 DM0和 DP0脚相连接， USB转 RS232芯片 U24的 DM和 DP脚分別于通过匹配电阻 R66和 R68连接到 USB HUB 芯片 U20的 DM1和 DPI脚， USB转 RS485芯片 U19的 DM 和 DP脚分別于通过匹配电阻 R63和 R64连接到 USB HUB 芯片 U20的 DM2和 DP2脚， USB HUB芯片的 DM3和 DP3， DM4和 DP4可作为预留 USB主机接口的连接脚。至此构成的辅助双侧肢体协同康复的***的 USB电路通信线路的搭建连接，达到多个 USB功能模块间的通信目的。 Based on the above-described embodiment and the USB circuit configuration illustrated in FIGS. 11 to 14, at least two USB function modules perform a collection of communication lines using a USB-enabled circuit to an external PC through a USB HUB module. Among them, the USB to RS232 module and the USB to RS485 module are directly connected to the HUS HUB module, and the USB host interface is reserved as a functional circuit reserved interface of other USB interfaces, and the external circuit needs to be connected to the USB interface of the system for assisting the bilateral limbs to cooperate in rehabilitation. When directly connected to the reserved USB host interface module, after the plurality of USB function modules are connected with the USB HUB module, the USB HUB module is used to collect the communication lines, and then the related data is passed through the USB interface of the USB HUB module. Upload to a PC for processing. Or the PC will input the relevant control signal through the USB interface of the USB HUB module, and then send the relevant control signals to the corresponding USB function module through the USB HUB module. The interface P24 is an interface connecting the USB HUB chip U20 and the USB interface of the PC, and the interfaces P24 pins 2 and 3 are respectively connected with the DM0 and DP0 pins of the USB HUB chip U20, and the DM and DP pins of the USB to RS232 chip U24 are respectively Connected to the DM1 and DPI pins of the USB HUB chip U20 through the matching resistors R66 and R68, the DM and DP pins of the USB to RS485 chip U19 are connected to the DM2 and DP2 pins of the USB HUB chip U20 through the matching resistors R63 and R64, respectively, USB HUB The DM3 and DP3, DM4 and DP4 of the chip can be used as the connection pins for the reserved USB host interface. The construction of the USB circuit communication line of the system for assisting the rehabilitation of the two-sided limbs thus far achieves the communication purpose between the plurality of USB function modules.

通过上述实施例的 USB电路，具有以下优点： The USB circuit of the above embodiment has the following advantages:

经过 USB HUB模块进行多个 USB功能模块的通信线路的集合，减少对外部 PC的 USB 接口的占用数量； The collection of communication lines of multiple USB function modules via the USB HUB module reduces the number of occupations of the USB interface of the external PC;

经过 USB HUB模块进行多个 USB功能模块的通信线路的集合，电路采用直接 PCB布线的工艺直接连接 USB HUB模块的接口，避免接口间因为接触不良导致功能电路通信失败；以及，经过 USB HUB模块进行多个 USB功能模块的通信线路的集合，减少 USB连接线材，降低产品的生产成本。 The USB HUB module performs a collection of communication lines of a plurality of USB function modules, and the circuit directly connects the interface of the USB HUB module by using a direct PCB wiring process to avoid failure of the functional circuit communication due to poor contact between the interfaces; and, through the USB HUB module The collection of communication lines of multiple USB function modules reduces USB connection wires and reduces the production cost of the product.

在一实施例中，所述辅助双侧肢体协同康复的***还包括电源电路，所述控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述电源电路连接。 In an embodiment, the system for assisting the rehabilitation of the bilateral limbs further includes a power circuit, and the controller, the neuromuscular electrical stimulation unit, the myoelectric signal detecting unit, and the limb fixing bracket are respectively connected to the power circuit.

如图 15所示，所述电源电路包括：输入模块、第一管理模块和第二管理模块；所述输入模块的输入端连接电源，所述输入模块的输出端分別连接第一管理模块的输入端、第二管理模块的输入端。 As shown in FIG. 15, the power supply circuit includes: an input module, a first management module, and a second management module; an input end of the input module is connected to a power source, and an output end of the input module is respectively connected to an input of the first management module End, the input of the second management module.

其中，第一管理模块包括第一滤波电路和第一电压转换电路；第一滤波电路的输入端连接第一管理模块的输入端，第一滤波电路的输出端连接第一电压转换电路的输入端，所述第一滤波电路的输出端还连接驱动电机的供电端，第一电压转换电路的输出端连接第一类*** 负荷。 The first management module includes a first filter circuit and a first voltage conversion circuit. The input end of the first filter circuit is connected to the input end of the first management module, and the output end of the first filter circuit is connected to the input end of the first voltage conversion circuit. The output end of the first filter circuit is further connected to the power supply end of the drive motor, and the output end of the first voltage conversion circuit is connected to the first type of system load.

其中，第二管理模块包括第二滤波电路、第二电压转换电路和第三电压转换电路；第二滤波电路的输入端连接第二管理模块的输入端，第二滤波电路的输出端分別连接神经肌肉电刺激单元的供电端、第二电压转换电路的输入端，第二电压转换电路的输出端连接第三电压转换电路的输入端；所述第二电压转换电路的输出端还连接第二类***负荷，第三电压转换电路的输出端连接第三类***负荷。其中，所述第二电压转换电路的输出电压和第三电压转换电路的输出电压不同。第一类***负荷、第二类***负荷、第三类***负荷指的是辅助双侧肢体协同康复的***中不同的电子器件，它们适应的电源电压可能不同，也可能相同，由所述第一电压转换电路、第二电压转换电路、第三电压转换电路的输出电压决定。 The second management module includes a second filter circuit, a second voltage conversion circuit, and a third voltage conversion circuit. The input end of the second filter circuit is connected to the input end of the second management module, and the output end of the second filter circuit is respectively connected to the nerve a power supply end of the muscle electrical stimulation unit, an input end of the second voltage conversion circuit, an output end of the second voltage conversion circuit is connected to an input end of the third voltage conversion circuit; and an output end of the second voltage conversion circuit is further connected to the second type System load, the output of the third voltage conversion circuit is connected to the third type of system load. Wherein the output voltage of the second voltage conversion circuit and the third voltage are turned The output voltage of the circuit is different. The first type of system load, the second type of system load, and the third type of system load refer to different electronic devices in the system for assisting the rehabilitation of the bilateral limbs, and the power supply voltages they are adapted to may be different or the same, The output voltage of a voltage conversion circuit, a second voltage conversion circuit, and a third voltage conversion circuit is determined.

可选地，在辅助双侧肢体协同康复的***中，所述第一电压转换电路为 DC12V-DC5V的转换电路，所述第二电压转换电路为 DC12V-DC5V 的转换电路，所述第三电压转换电路为 DC5V-DC2.5V 的转换电路。对应地，第一电压转换电路的输出端连接的第一类***负荷为 DC5V的电器元件，第二电压转换电路的输出端连接的第二类***负荷也为 DC5V的电器元件，第三电压转换电路的输出端连接的第三类***负荷为 DC2.5V的电器元件。可以理解的，所述第一电压转换电路、第二电压转换电路、第三电压转换电路还可为根据实际场景选用其他转换电路，例如 DC12V-DC7.5V的转换电路、 DC7.5V-DC2.5V的转换电路等。 Optionally, in the system for assisting the rehabilitation of the bilateral limbs, the first voltage conversion circuit is a DC12V-DC5V conversion circuit, the second voltage conversion circuit is a DC12V-DC5V conversion circuit, and the third voltage The conversion circuit is a DC5V-DC2.5V conversion circuit. Correspondingly, the first type of system load connected to the output end of the first voltage conversion circuit is a DC5V electrical component, and the second type of system load connected to the output end of the second voltage conversion circuit is also a DC5V electrical component, and the third voltage conversion The third type of system connected to the output of the circuit is a DC 2.5V electrical component. It can be understood that the first voltage conversion circuit, the second voltage conversion circuit, and the third voltage conversion circuit may also select other conversion circuits according to actual scenarios, such as a DC12V-DC7.5V conversion circuit, DC7.5V-DC2. 5V conversion circuit, etc.

上述实施例电源电路，通过设置上述两个管理模块以及管理模块中各組成电路的配合关系，既能够提供不同的电压值给不同电器元件，还能避免不同电源管理模块之间的互相串扰，使不同电器元件都能使用到较高品质的电压；同时由于只需一个电源，因此能够较大程度的縮小了电源电路的体积，以及降低电源电路的成本。 The power supply circuit of the above embodiment can provide different voltage values to different electrical components by setting the cooperation relationship between the two management modules and the constituent circuits of the management module, and can avoid mutual crosstalk between different power management modules. Different electrical components can use higher quality voltages; at the same time, since only one power supply is needed, the volume of the power supply circuit can be reduced to a large extent, and the cost of the power supply circuit can be reduced.

在一实施例中，参考图 16所示，所述输入模块包括:接口 P4，TVS管 D2和压敏电阻 R16 ; 接口 P4的输入端连接电源，接口 P4的管脚 2连接所述输入模块的输出端、 TVS管 D2—端和压敏电阻 R16—端，接口 P4的管脚 1分別连接 TVS管 D2另一端和压敏电阻 R16另一端以及电源地端；其中，接口 P4的管脚 1和管脚 2导通。图中，假设输入模块输入的电压为 12V, 对应的输入模块的输出端即 12V端，电源地端即 12G端。 In an embodiment, referring to FIG. 16, the input module comprises: an interface P4, a TVS tube D2 and a varistor R16; an input end of the interface P4 is connected to a power source, and a pin 2 of the interface P4 is connected to the input module. The output end, the TVS tube D2 - terminal and the varistor R16 - terminal, the pin 1 of the interface P4 is respectively connected to the other end of the TVS tube D2 and the other end of the varistor R16 and the power supply ground; wherein, the pin 1 of the interface P4 and Pin 2 is turned on. In the figure, it is assumed that the input module input voltage is 12V, the corresponding input module output terminal is 12V terminal, and the power supply ground terminal is 12G terminal.

在另一可选实施例中，参考图 17中的（a) 所示，所述输入模块还包括：接口 P3、 P5。接口 P3的管脚 1和管脚 2导通，接口 P4的管脚 1和管脚 2导通，接口 P5的管脚 1、管脚 2、管脚 3中两两均不导通。接口 P3的管脚 2分別连接所述输入模块的输出端、 TVS管 D2—端和压敏电阻 R16—端；接口 P4的输入端连接电源，接口 P4的管脚 2分別连接接口 P3的管脚 1、接口 P5的管脚 2，接口 P4的管脚 1分別连接接口 P5的管脚 1、接口 P5的管脚 3，接口 P5的管脚 1还分別连接 TVS管 D2另一端和压敏电阻 R16另一端以及电源地端。其中，接口 P3为供电电路的开关插座，接口 P5为电源供电备用接口。 In another alternative embodiment, referring to (a) of FIG. 17, the input module further includes: interfaces P3, P5. Pin 1 and pin 2 of interface P3 are turned on, pin 1 and pin 2 of interface P4 are turned on, and pin 2, pin 2, and pin 3 of interface P5 are not turned on. The pin 2 of the interface P3 is respectively connected to the output end of the input module, the D2 end of the TVS tube and the varistor R16-end; the input end of the interface P4 is connected to the power supply, and the pin 2 of the interface P4 is respectively connected to the pin of the interface P3. 1. Pin 2 of interface P5, pin 1 of interface P4 is connected to pin 1 of interface P5, pin 3 of interface P5, pin 1 of interface P5 is also connected to the other end of TVS tube D2 and varistor R16 respectively. The other end and the power ground. The interface P3 is a switch socket of the power supply circuit, and the interface P5 is a power supply backup interface.

可选地，继续参考图 17中的（a) 所示，所述输入模块还包括：电阻 R17 ; 接口 P4的管脚 1通过电阻 R17连接 TVS管 D2另一端和压敏电阻 R16另一端以及电源地端。 Optionally, referring to (a) of FIG. 17, the input module further includes: a resistor R17; the pin 1 of the interface P4 is connected to the other end of the TVS tube D2 through the resistor R17 and the other end of the varistor R16 and the power supply Ground.

在一可选实施例中，参考图 15所示，所述第一滤波电路包括：共模电感 L7，差模电感 L5 以及电容 C20、 C21。共模电感 L7的两个输入端分別连接输入模块的输出端和电源地端，共模电感 L7的一输出端连接差模电感 L5—端，差模电感 L5另一端分別连接电容 C20—端、电容 C21—端以及第一滤波电路的输出端（当输入电源为 12V时，即图 4中的 M12V端）；共模电感 L7的另一输出端连接电容 C20另一端、电容 C21另一端以及模拟地端（即图中的 MG D) c In an alternative embodiment, referring to FIG. 15, the first filter circuit includes: a common mode inductor L7, a differential mode inductor L5, and capacitors C20 and C21. The two input ends of the common mode inductor L7 are respectively connected to the output end of the input module and the power ground end, one output end of the common mode inductor L7 is connected to the differential mode inductor L5-end, and the other end of the differential mode inductor L5 is respectively connected to the capacitor C20-end, Capacitor C21 - terminal and the output of the first filter circuit (when the input power is 12V, that is, the M12V terminal in Figure 4); the other output of the common mode inductor L7 is connected to the other end of the capacitor C20, the other end of the capacitor C21, and the analog Ground (ie MG D in the figure) c

在一实施例中，参考图 18所示，所述第一电压转换电路包括：电压转换芯片 U6，差模电感 L6，电容 C22、 C23 , 电阻 R19，发光二极管 D5 ; 电压转换芯片 U6的地连接模拟地端，电压转换芯片 U6的输入端为所述第一电压转换电路的输入端，电压转换芯片 U6的输出端连接差模电感 L6的一端，差模电感 L6的另一端连接电容 C22—端、电容 C23—端、电阻 R19 一端以及第一电压转换电路的输出端，电阻 R19另一端连接发光二极管 D5的正极，发光二极管 D5的负极、电容 C22另一端、电容 C23另一端均连接模拟地端。 In an embodiment, referring to FIG. 18, the first voltage conversion circuit includes: a voltage conversion chip U6, a differential mode inductor L6, capacitors C22, C23, a resistor R19, a light emitting diode D5, and a ground connection of the voltage conversion chip U6. Analog terminal, the input end of the voltage conversion chip U6 is the input end of the first voltage conversion circuit, and the output end of the voltage conversion chip U6 is connected One end of the differential mode inductor L6, the other end of the differential mode inductor L6 is connected to the capacitor C22 terminal, the capacitor C23 terminal, the resistor R19 end and the output end of the first voltage conversion circuit, and the other end of the resistor R19 is connected to the anode of the LED D5. The negative terminal of the light-emitting diode D5, the other end of the capacitor C22, and the other end of the capacitor C23 are connected to the analog ground.

在一实施例中，参考图 17中的（a) 所示，所述第二滤波电路包括：共模电感 L3，差模电感 L1 以及电容 Cl l、 C12。共模电感 L3的两个输入端分別连接输入模块的输出端（即图 17中的 12V端）和电源地端（即图 17中的 12G端），共模电感 L3的一输出端连接差模电感 L1一端，差模电感 L1另一端分別连接电容 C11一端、电容 C12—端以及第二滤波电路的输出端（即图 17中的 VCC端）；共模电感 L3的另一输出端连接电容 C11另一端、电容 C12另一端以及 GND端。 In an embodiment, referring to (a) of FIG. 17, the second filter circuit includes: a common mode inductor L3, a differential mode inductor L1, and capacitors Cl1, C12. The two input terminals of the common mode inductor L3 are respectively connected to the output end of the input module (ie, the 12V terminal in FIG. 17) and the power supply ground end (ie, the 12G terminal in FIG. 17), and an output terminal of the common mode inductor L3 is connected to the differential mode. The other end of the common mode inductor L3 is connected to the capacitor C11. The other end, the other end of the capacitor C12 and the GND terminal.

在一可选实施例中，继续参考图 17中的（a) 所示，所述第二电压转换电路包括：电压转换芯片 U4，差模电感 L2，电容 C12、 C14，电阻 R15，发光二极管 D3。电压转换芯片 U4 的地连接 GND端，电压转换芯片 U4的输入端为所述第二电压转换电路的输入端，电压转换芯片 U4的输出端连接差模电感 L2的一端，差模电感 L2的另一端连接电容 C13—端、电容 C14一端、电阻 R15—端以及第二电压转换电路的输出端，电阻 R15另一端连接发光二极管 D3的正极，发光二极管 D3的负极、电容 C13另一端、电容 C14另一端均连接 GND端。 In an optional embodiment, referring to (a) of FIG. 17, the second voltage conversion circuit includes: a voltage conversion chip U4, a differential mode inductor L2, capacitors C12, C14, a resistor R15, and a light emitting diode D3. . The ground of the voltage conversion chip U4 is connected to the GND end, the input end of the voltage conversion chip U4 is the input end of the second voltage conversion circuit, the output end of the voltage conversion chip U4 is connected to one end of the differential mode inductor L2, and the differential mode inductor L2 is another. One end is connected to the capacitor C13-terminal, the capacitor C14 end, the resistor R15-end and the output end of the second voltage conversion circuit, the other end of the resistor R15 is connected to the anode of the LED D3, the cathode of the LED D3, the other end of the capacitor C13, and the capacitor C14 Connect one end to the GND terminal.

在一可选实施例中，参考图 17中的（b) 所示，所述第三电压转换电路包括：电压转换芯片 U5，差模电感 L4，电容 C15、 C16，电阻 R18，发光二极管 D4.电压转换芯片 U5的地连接 G D端，电压转换芯片 U5的输入端为所述第三电压转换电路的输入端，电压转换芯片 U5的输出端连接差模电感 L4的一端，差模电感 L4的另一端连接电容 C15—端、电容 C16 一端、电阻 R18—端以及第三电压转换电路的输出端，电阻 R18另一端连接发光二极管 D4 的正极，发光二极管 D4的负极、电容 C15另一端、电容 C16另一端均连接 GND端。 In an optional embodiment, referring to (b) of FIG. 17, the third voltage conversion circuit includes: a voltage conversion chip U5, a differential mode inductor L4, capacitors C15, C16, a resistor R18, and a light emitting diode D4. The ground of the voltage conversion chip U5 is connected to the GD terminal, the input end of the voltage conversion chip U5 is the input end of the third voltage conversion circuit, the output end of the voltage conversion chip U5 is connected to one end of the differential mode inductor L4, and the differential mode inductor L4 is another. One end is connected to the capacitor C15-terminal, the capacitor C16 end, the resistor R18-end and the output of the third voltage conversion circuit, the other end of the resistor R18 is connected to the anode of the LED D4, the cathode of the LED D4, the other end of the capacitor C15, and the capacitor C16 Connect one end to the GND terminal.

在一实施例中，结合图 17中的（b) 所示，所述的电源电路还包括：辅助接入模块，所述辅助接入模块的输入端连接辅助电源，辅助接入模块的输出端连接第三电压转换电路的输入端。其中，辅助接入模块包括：接口 P6，电容 C17、 C18 ; 接口 P6的管脚 2连接电容 C17 一端、 C18—端以及所述第三电压转换电路的输入端，所述接口 P6的管脚 1连接电容 C17 另一端、 C 18另一端以及 G D端，所述接口 P6的输入端连接辅助电源，所述辅助电源的电压值与第二电压转换电路的输出电压相等。即接口 P6作为辅助供电接口，所述第三电压转换电路既可以对第二电压转换电路的输出电压进行电压转换，也可以对接口 P6接入的辅助电源的电压进行电压转换。 In an embodiment, as shown in (b) of FIG. 17, the power supply circuit further includes: an auxiliary access module, wherein an input end of the auxiliary access module is connected to an auxiliary power source, and an output terminal of the auxiliary access module Connect to the input of the third voltage conversion circuit. The auxiliary access module includes: an interface P6, a capacitor C17, C18; a pin 2 of the interface P6 is connected to one end of the capacitor C17, a C18-end, and an input end of the third voltage conversion circuit, and the pin 1 of the interface P6 The other end of the capacitor C17 is connected to the other end of the C18 terminal and the GD terminal. The input end of the interface P6 is connected to the auxiliary power source, and the voltage value of the auxiliary power source is equal to the output voltage of the second voltage conversion circuit. That is, the interface P6 serves as an auxiliary power supply interface, and the third voltage conversion circuit can perform voltage conversion on the output voltage of the second voltage conversion circuit or voltage on the voltage of the auxiliary power source connected to the interface P6.

假设辅助双侧肢体协同康复的***的电源为 DC12V电源，则通过上述图 15〜图 18所示的电源电路结构图， DC12V电源输入后分两路对输入的电源进行滤波处理，一路经电源滤波处理后分配给 12V驱动电机，同时还被送至第一电压转换电路中将 12V转换为 5V (如果更换其他电器元件的话，电路板布线及相应的电压需求也会改变）以供需要 5V电源的电器元件使用。另一路经滤波处理后供 12V神经肌肉电刺激单元使用，同时还被送至第二电压转换电路进行电压转换，其中第二电压转换电路可将输入的 12V电压转换为 5V电压，供单片机等其他需要 5V电源的电器元件使用，同时 5V电压再经第三电压转换电路转换为 2.5V电压，供运算放大电路及其他需要 2.5V电源的电器元件使用。 P6为 DC5V辅助供电接口， P7、 P8为 DC2.5V的辅助供电接口。 Assume that the power supply of the system for assisting the rehabilitation of the bilateral limbs is DC12V power supply. Then, through the power circuit structure diagram shown in Figure 15 to Figure 18 above, the DC12V power supply is input and filtered in two ways, and the power is filtered by the power supply. After processing, it is distributed to the 12V drive motor, and is also sent to the first voltage conversion circuit to convert 12V to 5V (if other electrical components are replaced, the board layout and corresponding voltage requirements will also change) for 5V power supply. Use of electrical components. The other path is filtered and used by the 12V neuromuscular electrical stimulation unit, and is also sent to the second voltage conversion circuit for voltage conversion, wherein the second voltage conversion circuit can convert the input 12V voltage into 5V voltage for the single chip microcomputer and the like. It requires an electrical component of 5V power supply, and the 5V voltage is converted to 2.5V by the third voltage conversion circuit for use in an operational amplifier circuit and other electrical components requiring a 2.5V power supply. P6 is the DC5V auxiliary power supply interface, P7 and P8 are Auxiliary power supply interface for DC2.5V.

其中，电源经输入接口 P4接入，经过并联在电源电路中的电器元件 TVS管 D2和压敏电阻 R16进行防浪涌及防雷防静电处理，然后分別输入到共模电感 L3和 L7中进行共模电流滤波处理，其中共模电感 L3处理完毕后输送给电路后部的差模电感 L1、滤波电容 C11和 C12 进行滤波，供 DC 12V电器元件使用，同时还将滤波后的电源输送到电压转换芯片 U4中将电源电压转换为 DC5V电压，供 DC5V电器元件使用；进一步地，还将 DC5V电源输送至电压转换芯片 U5中将 DC5V转为 DC2.5V, 以供 2.5V电压的电器元件使用。共模电感 L7滤波处理完毕后送至后部的差模电感 L5、滤波电容 C20和 C21进行滤波处理，以供电机驱动电压输出，同时还将电源输入到电压转换芯片 U6中将电源电压转为 DC5V, 以为 DC5V的电器元件使用。将输入的电源分別经过两个共模电感进行滤波处理再输出给各自后部电路使用，可避免不同电路之间通过电源电路互相串扰，使各路元器件都能使用到较高品质的电源，同时也保证各个电路功能模块都能发挥最大效能。 Wherein, the power source is connected through the input interface P4, and the electrical components TVS tube D2 and the varistor R16 connected in parallel in the power circuit are subjected to anti-surge and lightning protection and anti-static treatment, and then input to the common mode inductors L3 and L7 respectively. Common mode current filtering processing, in which the common mode inductor L3 is processed and sent to the differential mode inductor L1 and the filter capacitors C11 and C12 at the rear of the circuit for filtering, for DC 12V electrical components, and also for filtering the power supply to the voltage The conversion chip U4 converts the power supply voltage into a DC5V voltage for use by the DC5V electrical component. Further, the DC5V power supply is also supplied to the voltage conversion chip U5 to convert the DC5V to DC2.5V for use with an electrical component of 2.5V voltage. After the common mode inductor L7 is processed, the differential mode inductor L5 and the filter capacitors C20 and C21 are sent to the rear for filtering, and the power supply is driven to output the voltage. At the same time, the power is input to the voltage conversion chip U6 to convert the power supply voltage into DC5V, used as a DC5V electrical component. The input power supply is filtered by two common mode inductors and output to the respective rear circuits, which can avoid crosstalk between different circuits through the power supply circuit, so that each component can use a higher quality power supply. At the same time, it also ensures that each circuit function module can achieve maximum performance.

通过上述实施例的电源电路，具有以下优点： The power supply circuit of the above embodiment has the following advantages:

采用多级直流电压转换芯片，由一路电源输入分为多路电压输出，供各个不用电压需求的电器元件，单一电源输入，品质稳定，选型简单。 The multi-level DC voltage conversion chip is divided into multiple voltage outputs by one power input for each electrical component that does not require voltage, a single power input, stable quality, and simple selection.

采用 ESD管和压敏电阻对静电、浪涌、雷电进行防护，保护内部电路使其不易受到损坏。以及，采用共模电感和差模电感进行电源噪音处理，避免内部电路功能模块通过电源线路相互影响，使各个功能电路都能用到高品质的电源供电，达到最大使用效能。 Use ESD tubes and varistors to protect against static electricity, surges, and lightning, and protect internal circuits from damage. Moreover, the common mode inductor and the differential mode inductor are used for power supply noise processing, so that the internal circuit function modules are prevented from interacting with each other through the power line, so that each function circuit can use a high-quality power supply to achieve maximum use efficiency.

在一实施例中，参考图 19所示，所述神经肌肉电刺激单元包括依次连接的单片机、电信号调节模块和输出接口，所述电信号调节模块包括电流调节电路和电压调节电路。 In one embodiment, referring to FIG. 19, the neuromuscular electrical stimulation unit includes a serially connected single chip microcomputer, an electric signal conditioning module, and an output interface, and the electrical signal conditioning module includes a current regulating circuit and a voltage regulating circuit.

其中，所述单片机可输出 PWM信号和控制信号，所述电流调节电路接收所述 PWM信号和控制信号，根据所述控制信号对所述 PWM信号进行电流放大，将电流放大后的 PWM 信号输送至电压调节电路进行电压放大，最后通过所述输出接口输出符合肢体康复神经肌肉电刺激的 PWM信号。通过所述神经肌肉电刺激单元输出的 PWM信号的电流强度和电压均应当在对人体肌肉进行电刺激的范围内。 The single chip microcomputer can output a PWM signal and a control signal, the current adjustment circuit receives the PWM signal and the control signal, performs current amplification on the PWM signal according to the control signal, and transmits the current amplified PWM signal to The voltage regulating circuit performs voltage amplification, and finally outputs a PWM signal conforming to limb rehabilitation neuromuscular electrical stimulation through the output interface. The current intensity and voltage of the PWM signal output by the neuromuscular electrical stimulation unit should be within the range of electrical stimulation of the human muscle.

通过所述单片机可灵活其输出的控制信号，由于所述控制信号灵活可调，因此电流调节电路基于所述控制信号能够对 PWM信号的电流强度进行灵活放大，因此其输出的 PWM信号的电流强度不受限于按照固定的梯度变化，可克服输出电流强度跳变的问题。 The control signal outputted by the single chip can be flexibly adjusted. Therefore, the current adjustment circuit can flexibly amplify the current intensity of the PWM signal based on the control signal, so the current intensity of the output PWM signal It is not limited to a fixed gradient change, which can overcome the problem of output current intensity jump.

在一实施例中，参考图 20所示，所述电流调节电路包括驱动芯片 U0，所述电压调节电路包括第一可调变压器 L4和第二可调变压器 L5。所述驱动芯片 U0的输入端为其所在电流调节电路的输入端，驱动芯片 U0的输出端为其所在的电流调节电路的输出端。 In one embodiment, referring to FIG. 20, the current regulating circuit includes a driving chip U0, and the voltage regulating circuit includes a first adjustable transformer L4 and a second adjustable transformer L5. The input end of the driving chip U0 is the input end of the current regulating circuit, and the output end of the driving chip U0 is the output end of the current regulating circuit.

参考图 20所示，所述驱动芯片 U0的第一输入脚 IN1、第二输入脚 IN2分別连接单片机的第一 PWM信号输出脚 RA0、第二 PWM信号输出脚 RA1 ; 所述驱动芯片 U0的第三输入脚 IN3、第四输入脚 IN4分別连接单片机的第三 PWM信号输出脚 RA2、第四 PWM信号输出脚 RA3。进而，由所述驱动芯片 U0的第一输入脚 IN1、第二输入脚 IN2输入的 PWM信号，通过驱动芯片 U0的第一输出脚 OUT1和第二输出脚 OUT2输出至第一可调变压器 L4 ; 由所述驱动芯片 U0的第三输入脚 IN3、第四输入脚 IN4输入的 PWM信号，通过驱动芯片 U0的第三输出脚 OUT3和第四输出脚 OUT4输出至第二可调变压器 L5。 Referring to FIG. 20, the first input pin IN1 and the second input pin IN2 of the driving chip U0 are respectively connected to the first PWM signal output pin RA0 and the second PWM signal output pin RA1 of the single chip microcomputer; The three input pins IN3 and the fourth input pin IN4 are respectively connected to the third PWM signal output pin RA2 and the fourth PWM signal output pin RA3 of the single chip microcomputer. Further, the PWM signal input by the first input pin IN1 and the second input pin IN2 of the driving chip U0 is output to the first adjustable transformer L4 through the first output pin OUT1 and the second output pin OUT2 of the driving chip U0; The PWM signal input by the third input pin IN3 and the fourth input pin IN4 of the driving chip U0 passes through the driving chip U0. The third output pin OUT3 and the fourth output pin OUT4 are output to the second adjustable transformer L5.

此外，第一可调变压器 L4、第二可调变压器 L5分別与一个输出接口连接。即第一可调变压器 L4的次级线圈连接输出接口 Pl，第二可调变压器 L5的次级线圈连接输出接口 P2。通过改变可调变压器的初级线圈和次级线圈的比例，可灵活调整输出的 PWM信号的电压大同时，所述驱动芯片 U0的公共端 G D均连接单片机的控制信号输出脚 RE0 ; 所述单片机输出的控制信号用于对所述驱动芯片的通电时间占空比进行控制，以此调节驱动芯片输出的 PWM信号的电流大小。使得输出的 PWM信号的电流强度不受限于按照固定的梯度变化，可克服输出电流强度跳变的问题。 In addition, the first adjustable transformer L4 and the second adjustable transformer L5 are respectively connected to an output interface. That is, the secondary coil of the first adjustable transformer L4 is connected to the output interface P1, and the secondary coil of the second adjustable transformer L5 is connected to the output interface P2. By changing the ratio of the primary coil and the secondary coil of the adjustable transformer, the voltage of the output PWM signal can be flexibly adjusted. At the same time, the common terminal GD of the driving chip U0 is connected to the control signal output pin RE0 of the single chip microcomputer; The control signal is used to control the duty cycle of the power-on time of the driving chip, thereby adjusting the current level of the PWM signal output by the driving chip. The current intensity of the output PWM signal is not limited to a fixed gradient change, and the problem of output current intensity jump can be overcome.

通过单片机的 PWM信号输出脚 RA0和 PWM信号输出脚 RA1的导通顺序控制，可改变输入可调变压器的初级线圈的电流方向。例如：当单片机的 PWM信号输出脚 RA0输出高电平、 PWM信号输出脚 RA1输出为低电平时，驱动芯片 U0的输出脚 OUT1为高电平， OUT2 为低电平，第一可调变压器 L4的初级线圈中的电流方向从 OUT1流向 OUT2。反之，当单片机 PWM信号输出脚 RA0输出为低电平， PWM信号输出脚 RA1输出为高电平时，第一可调变压器 L4的初级线圈中的电流方向从 OUT2流向 OUT1 , 由此产生交变磁场。进而通过电磁感应原理使第一可调变压器 L4的次级线圈输出高压，第一可调变压器 L4的次级线圈输出的电压输送至对应的输出接口，完成从第一可调变压器 L4输出的一路神经肌肉电刺激信号的输出。第二可调变压器 L5输出电压的原理与第一可调变压器 L4相同。并且，驱动芯片 U0的公共端 G D连接通过电阻 R12连接到单片机的控制信号输出脚 RE0。通过单片机编程设置，对控制信号输出脚 RE0输出的控制信号进行调节，来完成对驱动芯片 U0的通电时间占空比的控制，以此来完成神经肌肉电刺激信号的电路强度的调节。 The current direction of the primary coil of the input adjustable transformer can be changed by the conduction sequence control of the PWM signal output pin RA0 and the PWM signal output pin RA1 of the single chip microcomputer. For example: When the PWM signal output pin RA0 of the MCU outputs a high level and the PWM signal output pin RA1 outputs a low level, the output pin OUT1 of the driving chip U0 is a high level, OUT2 is a low level, and the first adjustable transformer L4 The current direction in the primary coil flows from OUT1 to OUT2. Conversely, when the PWM signal output pin RA0 output is low and the PWM signal output pin RA1 is output high, the current direction in the primary coil of the first adjustable transformer L4 flows from OUT2 to OUT1, thereby generating an alternating magnetic field. . Further, the secondary coil of the first adjustable transformer L4 is outputted with high voltage by the principle of electromagnetic induction, and the voltage outputted by the secondary coil of the first adjustable transformer L4 is sent to the corresponding output interface to complete the output from the first adjustable transformer L4. The output of the neuromuscular electrical stimulation signal. The second adjustable transformer L5 has the same output voltage as the first adjustable transformer L4. Further, the common terminal G D of the driving chip U0 is connected to the control signal output pin RE0 of the single chip through the resistor R12. Through the programming of the single-chip microcomputer, the control signal outputted by the control signal output pin RE0 is adjusted to complete the control of the duty cycle of the power-on time of the driving chip U0, thereby completing the adjustment of the circuit strength of the neuromuscular electrical stimulation signal.

在一可选实施例中，所述驱动芯片 U0的公共端 G D还同时通过电容 C8连接所述单片机的控制信号输出脚 RE0。电容 C8和电阻 R12并联。 In an optional embodiment, the common terminal G D of the driving chip U0 is also connected to the control signal output pin RE0 of the microcontroller through the capacitor C8 at the same time. Capacitor C8 is connected in parallel with resistor R12.

此外，参见图 20所示，所述驱动芯片 U0的公共端 GND还同时通过电阻 R8连接 PCB 板的 GND端。 In addition, as shown in FIG. 20, the common terminal GND of the driving chip U0 is also connected to the GND terminal of the PCB through the resistor R8.

可选地，第一可调变压器 L4、第二可调变压器 L5均可选用高频升压变压器。所述驱动芯片 U0可选用型号为 L293DD-AU的驱动芯片。可以理解的，基于同样的原理，也可根据实际情况，对上述实施例的神经肌肉电刺激单元中涉及的电子器件作一些的替换。 Optionally, the first adjustable transformer L4 and the second adjustable transformer L5 may each be a high frequency step-up transformer. The driver chip U0 can be selected from a driver chip of the type L293DD-AU. It will be understood that, based on the same principle, some of the electronic devices involved in the neuromuscular electrical stimulation unit of the above embodiment may be replaced in accordance with the actual situation.

进一步地，在一实施例中，参考图 21所示，所述电流调节电路还包括第一隔离电路和第二隔离电路；所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一隔离电路、第二隔离电路连接 PCB板的 VCC端。 Further, in an embodiment, referring to FIG. 21, the current adjustment circuit further includes a first isolation circuit and a second isolation circuit; the first power input pin and the first power input pin of the driving chip respectively pass The first isolation circuit and the second isolation circuit are connected to the VCC end of the PCB board.

可选地，所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一隔离电阻 L6、第二隔离电阻 L2连接 PCB板的 VCC端。 Optionally, the first power input pin and the first power input pin of the driving chip are respectively connected to the VCC end of the PCB through the first isolation resistor L6 and the second isolation resistor L2.

进一步地，在一实施例中，参考图 21所示，所述电流调节电路还包括第一电容 C12和第二电容 C11 ; 所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一电容 C12、第二电容 C11连接 PCB板的 GND端。 Further, in an embodiment, referring to FIG. 21, the current adjustment circuit further includes a first capacitor C12 and a second capacitor C11; the first power input pin and the first power input pin of the driving chip respectively pass The first capacitor C12 and the second capacitor C11 are connected to the GND end of the PCB.

进一步地，在一实施例中，参考图 21所示，所述电流调节电路还包括第一电阻 R5、第二电阻 R15、第三电阻 R6和第四电阻 R16。所述驱动芯片的第一输入脚 INI通过第一电阻 R5连接单片机的第一 PWM信号输出脚 RA0；所述驱动芯片的第二输入脚 IN2通过第二电阻 R15连接单片机的第二 PWM信号输出脚 RA1 ; 所述驱动芯片的第三输入脚 IN3通过第三电阻 R16连接单片机的第三 PWM信号输出脚 RA2；所述驱动芯片的第四输入脚 IN4通过第四电阻 R16连接单片机的第四 PWM信号输出脚 RA3。 Further, in an embodiment, referring to FIG. 21, the current adjustment circuit further includes a first resistor R5, Two resistors R15, a third resistor R6 and a fourth resistor R16. The first input pin INI of the driving chip is connected to the first PWM signal output pin RA0 of the single chip through the first resistor R5; the second input pin IN2 of the driving chip is connected to the second PWM signal output pin of the single chip through the second resistor R15. The third input pin IN3 of the driving chip is connected to the third PWM signal output pin RA2 of the single chip through the third resistor R16; the fourth input pin IN4 of the driving chip is connected to the fourth PWM signal of the single chip through the fourth resistor R16. Output pin RA3.

进一步地，在一实施例中，参考图 21所示，所述电流调节电路还包括第五电阻 R12 ; 所述驱动芯片的公共端 G D通过第五电阻 R12连接单片机的控制信号输出脚 RE0。 Further, in an embodiment, referring to FIG. 21, the current regulating circuit further includes a fifth resistor R12; the common terminal G D of the driving chip is connected to the control signal output pin RE0 of the single chip through the fifth resistor R12.

进一步地，在一实施例中，参考图 21所示，所述电流调节电路还包括第六电阻 R8 ; 所述驱动芯片的公共端 GND还通过第六电阻 R8连接 PCB板的 GND端。 Further, in an embodiment, as shown in FIG. 21, the current regulating circuit further includes a sixth resistor R8; the common terminal GND of the driving chip is further connected to the GND terminal of the PCB through the sixth resistor R8.

进一步地，在一可选实施例中，包括至少两个电信号调节模块；且每个电信号调节模块分別对应两个输出接口，每个电信号调节模块对应的两个输出接口输出的 PWM信号反相。例如，参考图 21所示，包括三个电信号调节模块，对应六个输出接口。因此可以输出多路神经肌肉电刺激信号，提高神经肌肉电刺激的效果。 Further, in an optional embodiment, at least two electrical signal adjustment modules are included; and each of the electrical signal adjustment modules respectively corresponds to two output interfaces, and the PWM signals output by the corresponding two output interfaces of each electrical signal adjustment module Inverted. For example, referring to FIG. 21, three electrical signal conditioning modules are included, corresponding to six output interfaces. Therefore, it is possible to output multi-channel nerve electrical stimulation signals to improve the effect of neuromuscular electrical stimulation.

图 21中， U2、 U6、 U9分別表示三个驱动芯片， L4、 L5、 Lll、 L12、 L18、 L19分別表示六个高频升压变压器， Pl、 P2、 P5、 P6、 P10、 Pll分別表示六个输出接口，用以连接到神经肌肉电刺激的电极片。其中驱动芯片 U2的输入脚 IN1和 IN2脚分別与电阻 R5和 R15连接，并连接到单片机的 PWM信号输出脚 RA0和 RA1，通过程序分別控制驱动芯片 U2的输出脚 OUT1和 OUT2,同时 OUT1和 OUT2连接到高频升压变压器 L4的初级线圈，完成回路。 In Fig. 21, U2, U6, and U9 respectively represent three driving chips, and L4, L5, L11, L12, L18, and L19 respectively represent six high frequency step-up transformers, and Pl, P2, P5, P6, P10, and P11 respectively represent six. An output interface for connecting to a sheet of neuromuscular electrical stimulation. The input pins IN1 and IN2 of the driving chip U2 are respectively connected with the resistors R5 and R15, and are connected to the PWM signal output pins RA0 and RA1 of the single chip microcomputer, and the output pins OUT1 and OUT2 of the driving chip U2 are respectively controlled by the program, and OUT1 and OUT2 are simultaneously controlled. Connect to the primary coil of the high frequency step-up transformer L4 to complete the loop.

通过单片机的 PWM信号输出脚 RA0和 PWM信号输出脚 RA1的导通顺序控制可完成对高频升压变压器电流方向的改变，当单片机的 PWM信号输出脚 RA0输出高电平、 PWM信号输出脚 RA1输出为低电平时，驱动芯片 U2的输出脚 OUT1为高电平， OUT2为低电平，高频升压变压器 L4的初级线圈中的电流方向从 OUT1流向 OUT2。反之，当单片机 PWM信号输出脚 RA0输出为低电平， PWM信号输出脚 RA1输出为高电平时，高频升压变压器 L4 的初级线圈中的电流方向从 OUT2流向 OUT1 , 产生交变磁场，通过电磁感应原理使高频升压变压器 L4的次级线圈输出高压，高频升压变压器 L4的次级线圈通过 PCB布线连接到神经肌肉电刺激输出的输出接口，完成一路神经肌肉电刺激信号的输出。其他五路的神经肌肉电刺激信号的输出同理。 The change of the current direction of the high-frequency step-up transformer can be completed by the turn-on sequence control of the PWM signal output pin RA0 and the PWM signal output pin RA1 of the single-chip microcomputer. When the PWM signal output pin RA0 of the single-chip microcomputer outputs a high level, the output of the PWM signal output pin RA1 is When the level is low, the output pin OUT1 of the driving chip U2 is at a high level, OUT2 is at a low level, and the current direction in the primary coil of the high-frequency step-up transformer L4 flows from OUT1 to OUT2. Conversely, when the PWM signal output pin RA0 output is low and the PWM signal output pin RA1 is output high, the current direction in the primary coil of the high-frequency step-up transformer L4 flows from OUT2 to OUT1, generating an alternating magnetic field. The principle causes the secondary coil of the high-frequency step-up transformer L4 to output a high voltage, and the secondary coil of the high-frequency step-up transformer L4 is connected to the output interface of the neuromuscular electrical stimulation output through the PCB wiring to complete the output of the neuromuscular electrical stimulation signal. The output of the other five neuromuscular electrical stimulation signals is the same.

并且，驱动芯片 U2、 U6、 U9的公共端 GND连接通过电阻 R12连接到单片机的 RE0脚。通过单片机编程设置，对控制信号输出脚 RE0输出的控制信号进行调节，来完成对驱动芯片 U2、 U6、 U9的通电时间占空比的控制，以此来完成神经肌肉电刺激信号的电路强度的调节。 Moreover, the common terminal GND of the driving chips U2, U6, and U9 is connected to the RE0 pin of the microcontroller through the resistor R12. Through the programming of the single-chip microcomputer, the control signal outputted by the control signal output pin RE0 is adjusted to complete the control of the duty cycle of the driving time of the driving chips U2, U6, U9, thereby completing the circuit strength of the neuromuscular electrical stimulation signal. Adjustment.

可以理解的，本领域技术人员应当知悉，在所述至少两个电信号调节模块中，对应位置的电子器件可以选用相同的型号和相同参数，也可以选用不同型号或者不同的参数。 It can be understood that those skilled in the art should be aware that in the at least two electrical signal conditioning modules, the electronic devices of the corresponding positions may be selected from the same model and the same parameters, or different models or different parameters may be selected.

在一实施例中，所述神经肌肉电刺激单元还可包括电极片，所述输出接口通过导线连接所述电极片。各个输出接口分別连接对应的电极片，将电极片贴合在肢体表面，便可将所述神经肌肉电刺激单元产生的 PWM信号用于进行肌肉刺激。可选地，为了提高神经肌肉电刺激效果，所述电极片还可设置有粘贴部，所述电极片通过所述粘贴部与肢体表面粘贴，以使得 PWM信号尽量多的传导到肌肉进行神经肌肉电刺激。通过上述实施例的神经肌肉电刺激单元，具有以下优点： In an embodiment, the neuromuscular electrical stimulation unit may further include an electrode tab, and the output interface is connected to the electrode tab by a wire. Each of the output interfaces is connected to a corresponding electrode sheet, and the electrode sheet is attached to the surface of the limb, and the PWM signal generated by the neuromuscular electrical stimulation unit can be used for muscle stimulation. Optionally, in order to improve the neuromuscular electrical stimulation effect, the electrode sheet may further be provided with a bonding portion, and the electrode sheet is pasted to the surface of the limb through the bonding portion, so that the PWM signal is transmitted to the muscle as much as possible to perform nerve muscles. Electrical stimulation. The neuromuscular electrical stimulation unit of the above embodiment has the following advantages:

有采用可调变压器器件，控制电路简化，所用器件较少，因此生产成本交底，生产成品良品率高，性能稳定； There are adjustable transformer devices, the control circuit is simplified, and the used devices are few, so the production cost is low, the yield of finished products is high, and the performance is stable;

由于采用可调变压器器件，可对轻松达到人体神经肌肉电刺激的电压强度； Thanks to the use of a tunable transformer device, it is easy to achieve the voltage intensity of human neuromuscular electrical stimulation;

由于采用可调变压器器件，次级线圈输出的高频神经肌肉电刺激电压与初级线圈电路无直接的电气连接，形成电气隔离，不影响电路其他功能器件工作； Due to the use of the adjustable transformer device, the high-frequency neuromuscular electrical stimulation voltage outputted by the secondary coil has no direct electrical connection with the primary coil circuit, forming electrical isolation, which does not affect the operation of other functional devices of the circuit;

以及，由于采用单片机对驱动芯片的 PWM 占空比控制技术，完成对神经肌肉电刺激电流强度的连续可调，克服了电流跳变问题。 And, because the PWM duty cycle control technology of the driving chip is adopted by the single chip microcomputer, the continuous adjustment of the current intensity of the neuromuscular electrical stimulation is completed, and the current jump problem is overcome.

通过上述的辅助双侧肢体协同康复的***，由于该***结合用户意识，采用肌电检测技术，电机驱动技术和神经肌肉电刺激原理，能根据用户主动意识，执行相应指令，驱动用户手臂进行康复训练。该治疗过程和人与外界进行交互认知过程相似，因此能到达非常优秀的康复效果。 Through the above-mentioned system for assisting the rehabilitation of bilateral limbs, the system combines the user's consciousness, adopts the electromyography detection technology, the motor drive technology and the neuromuscular electrical stimulation principle, and can execute the corresponding instructions according to the user's active consciousness to drive the user's arm to recover. training. The treatment process is similar to the interaction process between the person and the outside world, so that a very good rehabilitation effect can be achieved.

此外，上述示例的辅助双侧肢体协同康复的装置的实施方式中，各程序模块的逻辑划分仅是举例说明，实际应用中可以根据需要，例如出于相应硬件的配置要求或者软件的实现的便利考虑，将上述功能分配由不同的程序模块完成，即将所述辅助双侧肢体协同康复的装置的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分功能。 In addition, in the embodiment of the apparatus for assisting the rehabilitation of the bilateral limbs in the above-mentioned example, the logical division of each program module is only an example, and the actual application may be according to requirements, for example, the configuration requirements of the corresponding hardware or the convenience of the implementation of the software. It is considered that the above-mentioned function assignment is performed by different program modules, that is, the internal structure of the device for assisting the rehabilitation of the auxiliary limbs is divided into different program modules to complete all or part of the functions described above.

本领域普通技术人员可以理解，实现上述实施例的辅助双侧肢体协同康复的方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，作为独立的产品销售或使用。所述程序在执行时，可执行如上述各方法的实施例的全部或部分步骤。此外，所述存储介质还可设置与一种计算机设备中，所述计算机设备中还包括处理器，所述处理器执行所述存储介质中的程序时，能够实现上述各方法的实施例的全部或部分步骤。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体 ( Read-Only Memory, ROM) 或随机存储记忆体（Random Access Memory, RAM) 等。 One of ordinary skill in the art can understand that all or part of the process for implementing the assisted bilateral limb cooperative rehabilitation of the above embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer. It can be read from storage media and sold or used as a standalone product. The program, when executed, may perform all or part of the steps of an embodiment of the methods described above. Furthermore, the storage medium may be further provided with a computer device, wherein the computer device further includes a processor, and when the processor executes the program in the storage medium, all of the embodiments of the foregoing methods can be implemented. Or part of the steps. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。可以理解，其中所使用的术语 "第一"、 "第二"等在本文中用于区分对象，但这些对象不受这些术语限制。 In the above embodiments, the descriptions of the various embodiments are all focused, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments. It will be understood that the terms "first", "second" and the like used herein are used herein to distinguish between objects, but such objects are not limited by these terms.

以上所述实施例仅表达了本发明的几种实施方式，不能理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。 The above-described embodiments are merely illustrative of several embodiments of the invention and are not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

权利要求书 Claim

1、一种辅助双侧肢体协同康复的方法，其特征在于，包括： A method for assisting rehabilitation of a bilateral limb, characterized in that it comprises:

获取康复***手柄检测到的手柄操作信号；根据所述手柄操作信号生成对应的第二操控指令，根据所述第二操控信号控制康复***的肢体固定支架做出与所述手柄操作信号对应的机械运动； Obtaining a handle operation signal detected by the handle of the rehabilitation system; generating a corresponding second manipulation command according to the handle operation signal, and controlling a limb fixing bracket of the rehabilitation system according to the second manipulation signal to make a machine corresponding to the handle operation signal Exercise

2、根据权利要求 1所述的辅助双侧肢体协同康复的方法，其特征在于，根据所述肌电信号判断用户是否主动进行肢体动作之前，还包括：对所述肌电信号进行噪声抑制、信号放大和 /或模数转换处理； The method for assisting the rehabilitation of the bilateral limbs according to claim 1, wherein, before determining whether the user actively performs the limb movement according to the myoelectric signal, the method further comprises: performing noise suppression on the myoelectric signal, Signal amplification and/or analog to digital conversion processing;

和 /或， and / or,

生成与所述动作类型对应的第一操控指令，向康复***的控制器发送所述第一操控指令，通过所述控制器控制对应的电机按照设定的速度和角度进行运作，通过所述电机带动肢体固定支架做出与所述动作类型对应的机械运动； Generating a first manipulation command corresponding to the action type, transmitting the first manipulation command to a controller of the rehabilitation system, and controlling, by the controller, the corresponding motor to operate according to the set speed and angle, by using the motor Driving the limb fixing bracket to make a mechanical motion corresponding to the type of motion;

和 /或， and / or,

所述预存的动作信号包括伸展动作信号、收屈动作信号以及扭动动作信号中的至少一种。 The pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal.

3、一种辅助双侧肢体协同康复的装置，其特征在于，包括： 3. A device for assisting rehabilitation of bilateral limbs, characterized in that it comprises:

以及，刺激控制模块，用于向康复***的神经肌肉电刺激单元发出启动指令，以控制所述神经肌肉电刺激单元输出设定强度的电信号刺激待康复肢体。 And a stimulation control module, configured to send a start command to the neuromuscular electrical stimulation unit of the rehabilitation system to control the neuromuscular electrical stimulation unit to output an electrical signal of a set intensity to stimulate the limb to be recovered.

4、一种辅助双侧肢体协同康复的***，其特征在于，包括：控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架、 PC机和手柄； 4. A system for assisting bilateral body limb rehabilitation, comprising: a controller, a neuromuscular electrical stimulation unit, an electromyography signal detecting unit, a limb fixation bracket, a PC machine, and a handle;

所述控制器，还用于根据所述第一操控指令控制肢体固定支架做出与所述动作类型对应的机械运动； The controller is further configured to control the limb fixing bracket according to the first manipulation instruction to make a mechanical motion corresponding to the action type;

所述控制器，还用于根据所述第二操控信号控制肢体固定支架做出与所述手柄操作信号；†应的机 f戒运动； The controller is further configured to control the limb fixing bracket to perform an operation signal with the handle according to the second manipulation signal;

所述控制器，还用于控制神经肌肉电刺激单元的开启 /关闭，所述神经肌肉电刺激单元在启动状态下周期性输出设定强度的电信号以刺激待康复肢体。 The controller is further configured to control on/off of a neuromuscular electrical stimulation unit, and the neuromuscular electrical stimulation unit periodically outputs an electrical signal of a set intensity to stimulate the limb to be recovered in an activated state.

5、根据权利要求 4所述的辅助双侧肢体协同康复的***，其特征在于，所述肌电信号检测单元，包括依次连接的输入接口、集成差分运放单元、运算放大单元和输出接口，所述输入接口包括两个信号口，所述集成差分运放单元包括两个信号输入端和一个信号输出端，所述输入接口的两个信号口分別连接所述集成差分运放单元的两个信号输入端； The system for assisting the rehabilitation of the bilateral limbs according to claim 4, wherein the electromyographic signal detecting unit comprises an input interface sequentially connected, an integrated differential operational amplifier unit, an operational amplification unit, and an output interface. The input interface includes two signal ports, the integrated differential operational amplifier unit includes two signal input ends and one signal output end, and two signal ports of the input interface are respectively connected to two of the integrated differential operational amplifier units Signal input terminal;

6、根据权利要求 5所述的辅助双侧肢体协同康复的***，其特征在于，所述运算放大单元包括四个信号输入端和两个信号输出端，其中，第一信号输入端、第二信号输入端以及第一信号输出端构成第一放大电路，第三信号输入端、第四信号输入端以及第二信号输出端构成第二放大电路； The system for assisting the rehabilitation of the bilateral limbs according to claim 5, wherein the operational amplification unit comprises four signal input terminals and two signal output terminals, wherein the first signal input terminal and the second signal input terminal The signal input end and the first signal output end constitute a first amplifying circuit, and the third signal input end, the fourth signal input end and the second signal output end constitute a second amplifying circuit;

7、根据权利要求 6所述的辅助双侧肢体协同康复的***，其特征在于， 7. The system for assisting the rehabilitation of bilateral limbs according to claim 6, wherein:

所述集成差分运放单元包括：第一差动运放芯片以及电阻 R1; The integrated differential operational amplifier unit includes: a first differential operational amplifier chip and a resistor R1;

第一差动运放芯片的第一输入引脚、第二输入引脚分別连接所述集成差分运放单元的两个信号输入端，第一差动运放芯片的电源正端连接供电电源端，第一差动运放芯片的电源负端连接 G D，第一差动运放芯片的第一 RG引脚通过电阻 R1连接第二 RG引脚；第一差动运放芯片的参考电压端连接参考地； The first input pin and the second input pin of the first differential operational amplifier chip are respectively connected to two of the integrated differential operational amplifier units a signal input end, the positive end of the first differential op amp chip is connected to the power supply end, the negative end of the first differential op amp chip is connected to the GD, and the first RG pin of the first differential op amp chip passes the resistor R1 is connected to the second RG pin; the reference voltage end of the first differential op amp chip is connected to the reference ground;

8、如权利要求 4所述的辅助双侧肢体协同康复的***，其特征在于，还包括 USB电路，所述 USB电路与所述控制器连接， 8. The system for assisting bilateral body limb rehabilitation according to claim 4, further comprising a USB circuit, said USB circuit being coupled to said controller,

9、如权利要求 8所述的辅助双侧肢体协同康复的***，其特征在于，所述 USB HUB模块包括： USB HUB芯片 U20、接口 P24、电容 C76、 C77、 C78、 C82、 C83、 C84、 C85、 C86、 C80，电阻 R73、 R82、 R77、 R79、 R80、 R105，发光二极管 D20，电感 L40，以及晶振 Y2; The system for assisting the rehabilitation of the bilateral limbs according to claim 8, wherein the USB HUB module comprises: a USB HUB chip U20, an interface P24, capacitors C76, C77, C78, C82, C83, C84, C85, C86, C80, resistors R73, R82, R77, R79, R80, R105, LED D20, inductor L40, and crystal oscillator Y2;

USB HUB芯片 U20 的三个 AVDD脚分別通过电容 C76、电容 C77、电容 C82连接 GND， USB HUB芯片 U20 的 DVDD脚通过电容 C85连接 G D， USB HUB芯片 U20 的 V33脚通过电感 L40连接 3.3VGL端， USB HUB芯片 U20 的 DVDD脚还分別连接电容 C86—端、 3.3VGL端、电阻 R77—端、电阻 R79—端，电容 C86另一端连接 GND，电阻 R77另一端连接 USB HUB芯片 U20 的 PGANG脚，电阻 R79另一端连接发光二极管 D20正极，发光二极管 D20负极连接 USB HUB芯片 U20 的 PGANG脚； USB HUB芯片 U20 的 V5脚连接第一 USBV5端、电容 C80—端、电阻 R80—端，电容 C80另一端连接 GND，电阻 R80另一端分別连接电阻 R105—端、 USB HUB芯片 U20 的 PSELF脚，电阻 R105另一端连接 GND ; USB HUB芯片 U20 的 XI脚连接晶振 Y2一端、电容 C78—端， USB HUB芯片 U20 的 X2脚连接晶振 Y2另一端、电容 C83—端，电容 C78另一端、电容 C83另一端均连接 G D， USB HUB 芯片 U20 的 RREF脚通过电阻 R73连接 GND， USB HUB芯片 U20 的 RST脚连接电容 C84 一端、电阻 R82—端，电阻 R82另一端连接第一 USB5V端，电容 C84另一端连接 G D ; USB HUB芯片 U20 的 DM0脚、 DP0脚分別连接接口 P24的管脚 2、管脚 3， USB HUB芯片 U20 的 DM1脚、 DPI脚分別连接 USB转 RS232模块的 DM232信号端、 DP232信号端； USB HUB芯片 U20 的 DM2脚、 DP2脚分別连接 USB转 RS485模块的 DM485信号端、 DP485 信号端； USB HUB芯片 U20 的 DM3脚、 DP3脚、 DM4脚、 DP4脚均连接预留 USB主机接口模块； The three AVDD pins of the USB HUB chip U20 are connected to the GND through the capacitor C76, the capacitor C77, and the capacitor C82. The DVDD pin of the USB HUB chip U20 is connected to the GD through the capacitor C85, and the V33 pin of the USB HUB chip U20 is connected to the 3.3VGL terminal through the inductor L40. The DVDD of the USB HUB chip U20 is also connected to the capacitor C86-end, 3.3VGL terminal, resistor R77- terminal, and resistor R79- terminal. The other end of the capacitor C86 is connected to GND. The other end of the resistor R77 is connected to the PGANG pin of the USB HUB chip U20. The other end of the R79 is connected to the anode of the LED D20, and the cathode of the LED D20 is connected to the PGANG pin of the USB HUB chip U20; the V5 pin of the USB HUB chip U20 is connected to the first USBV5 terminal, the capacitor C80 terminal, the resistor R80 terminal, and the other end of the capacitor C80. GND, the other end of the resistor R80 is connected to the resistor R105-end, the PSELF pin of the USB HUB chip U20, and the other end of the resistor R105 is connected to the GND; the XI pin of the USB HUB chip U20 is connected to the end of the crystal oscillator Y2, the capacitor C78-end, and the USB HUB chip U20 The X2 pin is connected to the other end of the crystal oscillator Y2, the capacitor C83-terminal, the other end of the capacitor C78, and the other end of the capacitor C83 are connected to the GD. The RREF pin of USB HUB chip U20 is connected to GND through resistor R73. The RST pin of USB HUB chip U20 is connected to one end of capacitor C84 and the other end of resistor R82. The other end of resistor R82 is connected to the first USB5V terminal, and the other end of capacitor C84 is connected to GD. USB HUB chip The DM0 pin and the DP0 pin of the U20 are respectively connected to the pin 2 and the pin 3 of the interface P24, and the DM1 pin and the DPI pin of the USB HUB chip U20 are respectively connected to the DM232 signal end and the DP232 signal end of the USB to RS232 module; the USB HUB chip U20 The DM2 pin and the DP2 pin are respectively connected to the DM485 signal end and the DP485 signal end of the USB to RS485 module; the DM3 pin, the DP3 pin, the DM4 pin and the DP4 pin of the USB HUB chip U20 are connected to reserve the USB host interface module;

所述 USB HUB模块还包括：第一匹配电路，第二匹配电路，电感 L36，电容 C65、 C66、二极管 D22、 D23 ; 接口 P24的管脚 2通过第一匹配电路连接 USB HUB芯片 U20 的 DM0脚，接口 P24的管脚 3通过第二匹配电路连接 USB HUB芯片 U20 的 DP0脚；接口 P24的管脚 1连接电感 L36—端，电感 L36另一端分別连接电容 C65—端、电容 C66—端、第一 USB5V端，电容 C65另一端、电容 C66另一端均连接 GND ; 接口 P24的管脚 2还连接二极管 D22负极，二极管 D22正极连接二极管 D23正极，二极管 D23 负极连接接口 P24的管脚 3，二极管 D22 正极还连接 G D，接口 P24的管脚 4连接 G D，接口 P24的管脚 5、管脚 6均连接 EGND。 The USB HUB module further includes: a first matching circuit, a second matching circuit, an inductor L36, capacitors C65, C66, diodes D22, D23; The pin 2 of the interface P24 is connected to the DM0 pin of the USB HUB chip U20 through the first matching circuit, the pin 3 of the interface P24 is connected to the DP0 pin of the USB HUB chip U20 through the second matching circuit; the pin 1 of the interface P24 is connected to the inductor L36- On the other end, the other end of the inductor L36 is connected to the capacitor C65-terminal, the capacitor C66- terminal, the first USB5V terminal, the other end of the capacitor C65, and the other end of the capacitor C66 are connected to the GND; the pin 2 of the interface P24 is also connected to the diode D22 negative terminal, the diode D22 The positive pole is connected to the positive pole of the diode D23, the negative pole of the diode D23 is connected to the pin 3 of the interface P24, the positive pole of the diode D22 is also connected to the GD, the pin 4 of the interface P24 is connected to the GD, and the pin 5 and the pin 6 of the interface P24 are connected to the EGND.

10、如权利要求 4至 9任一所述的辅助双侧肢体协同康复的***，其特征在于，还包括电源电路，所述控制器、神经肌肉电刺激单元、肌电信号检测单元、肢体固定支架分別与所述电源电路连接； The system for assisting the rehabilitation of the bilateral limbs according to any one of claims 4 to 9, further comprising a power supply circuit, the controller, the neuromuscular electrical stimulation unit, the myoelectric signal detecting unit, and the limb fixation The brackets are respectively connected to the power circuit;

11、如权利要求 10所述的辅助双侧肢体协同康复的***，其特征在于，所述神经肌肉电刺激单元包括依次连接的单片机、电信号调节模块和输出接口，所述电信号调节模块包括电流调节电路和电压调节电路； The system for assisting the rehabilitation of the bilateral limbs according to claim 10, wherein the neuromuscular electrical stimulation unit comprises a single-chip microcomputer, an electrical signal adjustment module and an output interface, which are sequentially connected, and the electrical signal adjustment module comprises a current regulating circuit and a voltage regulating circuit;

所述单片机输出 PWM信号和控制信号，所述电流调节电路接收所述 PWM信号和控制信号，对所述 PWM信号进行电流放大，将电流放大后的 PWM信号输送至电压调节电路进行电压放大，最后通过所述输出接口输出； The single chip outputs a PWM signal and a control signal, the current adjustment circuit receives the PWM signal and the control signal, performs current amplification on the PWM signal, and supplies the current amplified PWM signal to a voltage adjustment circuit for voltage amplification, and finally Output through the output interface;

其中，所述电流调节电路包括驱动芯片，所述电压调节电路包括第一可调变压器和第二可调变压器； The current adjustment circuit includes a driving chip, and the voltage adjustment circuit includes a first adjustable transformer and a second adjustable transformer;

所述驱动芯片的第一输入脚 IN1、第二输入脚 IN2分別连接单片机的第一 PWM信号输出脚 RA0、第二 PWM信号输出脚 RA1；所述驱动芯片的第三输入脚 IN3、第四输入脚 IN4 分別连接单片机的第三 PWM信号输出脚 RA2、第四 PWM信号输出脚 RA3； The first input pin IN1 and the second input pin IN2 of the driving chip are respectively connected to the first PWM signal output pin RA0 and the second PWM signal output pin RA1 of the single chip; the third input pin IN3 and the fourth input of the driving chip. The pin IN4 is respectively connected to the third PWM signal output pin RA2 of the single chip microcomputer, and the fourth PWM signal output pin RA3;

所述驱动芯片的公共端 G D均连接单片机的控制信号输出脚 RE0 ; 所述单片机输出的控制信号用于对所述驱动芯片的通电时间占空比进行控制，通过通电时间占空比的调节改变所述驱动芯片输出的 PWM信号的电流大小。 The common terminal GD of the driving chip is connected to the control signal output pin RE0 of the single chip microcomputer; The control signal is used to control the duty cycle of the power-on time of the driving chip, and the current of the PWM signal output by the driving chip is changed by adjusting the duty cycle of the power-on time.

12、如权利要求 11所述的辅助双侧肢体协同康复的***，其特征在于，所述电流调节电路还包括第一隔离电路和第二隔离电路；所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一隔离电路、第二隔离电路连接 PCB板的 VCC端； The system for assisting the rehabilitation of the bilateral limbs according to claim 11, wherein the current regulating circuit further comprises a first isolation circuit and a second isolation circuit; a first power input pin of the driving chip, The first power input pin is respectively connected to the VCC end of the PCB board through the first isolation circuit and the second isolation circuit;

所述电流调节电路还包括第一电容 C33和第二电容 C24 ; 所述驱动芯片的第一电源输入脚、第一电源输入脚分別通过第一电容 C33、第二电容 C24连接 PCB板的 GND端； The current regulating circuit further includes a first capacitor C33 and a second capacitor C24. The first power input pin and the first power input pin of the driving chip are respectively connected to the GND end of the PCB through the first capacitor C33 and the second capacitor C24. ;

13、一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现权利要求 1或 2任一所述方法的步骤。 13. A computer device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement any of claims 1 or 2 The steps of the method.