WO2019061162A1 - Procédé, dispositif et système d'aide à la rééducation collaborative de membres bilatéraux - Google Patents

Procédé, dispositif et système d'aide à la rééducation collaborative de membres bilatéraux Download PDF

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Publication number
WO2019061162A1
WO2019061162A1 PCT/CN2017/104020 CN2017104020W WO2019061162A1 WO 2019061162 A1 WO2019061162 A1 WO 2019061162A1 CN 2017104020 W CN2017104020 W CN 2017104020W WO 2019061162 A1 WO2019061162 A1 WO 2019061162A1
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WIPO (PCT)
Prior art keywords
signal
pin
output
input
chip
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PCT/CN2017/104020
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English (en)
Chinese (zh)
Inventor
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
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Priority to PCT/CN2017/104020 priority Critical patent/WO2019061162A1/fr
Publication of WO2019061162A1 publication Critical patent/WO2019061162A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising

Definitions

  • 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
  • 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 is difficult to control, such as speed and motion trajectories.
  • 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
  • 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.
  • the invention provides:
  • a method for assisting combined rehabilitation of bilateral limbs comprising:
  • 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;
  • the method for assisting the rehabilitation of the bilateral limbs further includes:
  • the method further includes:
  • 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.
  • the method before determining, according to the myoelectric signal, whether the user actively performs a limb motion, the method further includes:
  • 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:
  • 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:
  • 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;
  • 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;
  • 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;
  • 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;
  • 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.
  • 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;
  • 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;
  • 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, signal amplification, and/or analog-to-digital conversion processing on the EMG signal, and send the processed EMG signal to the PC;
  • 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;
  • 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;
  • 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 second control command according to the handle operation signal, and send the second control signal to the controller;
  • 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;
  • 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.
  • 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;
  • 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.
  • 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;
  • 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.
  • the integrated differential operational amplifier unit includes: a first differential operational amplifier chip and a resistor R1;
  • 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.
  • 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.
  • a USB circuit is further included, and the USB circuit is connected to the controller,
  • 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. ;
  • 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.
  • 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;
  • 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.
  • 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;
  • 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 P
  • 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;
  • 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
  • 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;
  • 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
  • the voltage adjustment circuit includes a first adjustable transformer and a second adjustable transformer
  • 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;
  • 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;
  • 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 is changed.
  • 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 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;
  • 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;
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a schematic flow chart of a method for assisting the rehabilitation of bilateral limbs in an embodiment
  • FIG. 2 is a schematic flow chart of a method for assisting the rehabilitation of bilateral limbs in another embodiment
  • Figure 3 is a schematic structural view of an apparatus for assisting the rehabilitation of bilateral limbs in an embodiment
  • Figure 4 is a schematic structural view of a system for assisting the rehabilitation of bilateral limbs in an embodiment
  • Figure 5 is a schematic structural view of an electromyogram signal detecting unit of an embodiment
  • FIG. 6 is a schematic structural diagram of an electromyogram signal detecting unit of an alternative embodiment
  • FIG. 7 is a schematic structural view of an electromyogram signal detecting unit of another alternative embodiment
  • FIG. 8 is a schematic structural diagram of an electromyogram signal detecting unit of still another alternative embodiment
  • FIG. 9 is a schematic structural view of an electromyogram signal detecting unit of still another alternative embodiment.
  • FIG. 10 is a schematic structural diagram of a USB circuit according to an embodiment
  • FIG. 11 is a schematic structural diagram of a USB HUB module according to an embodiment
  • FIG. 12 is a schematic structural diagram of a USB to RS232 module according to an embodiment
  • FIG. 13 is a schematic structural diagram of a USB to RS485 module according to an embodiment
  • FIG. 14 is a schematic structural diagram of a reserved USB host interface module according to an embodiment.
  • Figure 15 is a schematic structural view of a power supply circuit of an embodiment
  • 16 is a schematic structural diagram of an input module and a second management module in a power supply circuit according to an embodiment
  • 17 is a schematic structural diagram of an input module and a second management module in a power supply circuit of another embodiment
  • FIG. 18 is a schematic structural diagram of a first management module in a power supply circuit according to an embodiment
  • Figure 19 is a schematic structural view of a neuromuscular electrical stimulation unit of an embodiment
  • 20 is a schematic structural diagram of an electrical signal conditioning module in a neuromuscular electrical stimulation unit according to an embodiment
  • Figure 21 is a schematic structural view of an electrical signal conditioning module in a neuromuscular electrical stimulation unit of another embodiment. Detailed ways
  • FIG. 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:
  • 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.
  • the myoelectric signal detected in the embodiment of the present invention may be a voltage signal or a current signal.
  • the pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal.
  • the execution bodies of the above steps S11 to S13 may all be PCs or controllers of the rehabilitation system.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the above limbs can be referred to as the upper limb, that is, the arm, or the lower limb, that is, the leg.
  • 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.
  • 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.
  • 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.
  • FIG. 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:
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • the pre-stored motion signal includes at least one of an extension motion signal, a flexion motion signal, and a twist motion signal.
  • the device for assisting the rehabilitation of the bilateral limbs further comprises:
  • 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.
  • the device for assisting the rehabilitation of the bilateral limbs further comprises:
  • a handle signal detecting module configured to acquire a handle operation signal detected by the handle of the rehabilitation system
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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. .
  • the EMG signal is uploaded to the PC as a digital signal for the comparison of the EMG signal types.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the user's left and right hands are coordinated to improve the user's left and right hands. Operational coordination.
  • 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.
  • 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.
  • the input interface includes two signal ports
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the integrated differential operational amplifier unit includes: a first differential operational amplifier chip U1 and a resistor R1.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the power supply terminal may be 5V
  • 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.
  • the system for assisting the rehabilitation of the bilateral limbs further includes a USB circuit, and the USB circuit is coupled to the controller.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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
  • the first matching circuit includes a resistor R65
  • 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.
  • 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 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 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.
  • 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.
  • the third matching circuit includes a resistor R66
  • 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.
  • 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 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.
  • 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 USB
  • 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.
  • the USB HUB module further includes: a fifth matching circuit and a sixth matching circuit;
  • 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.
  • the fifth matching circuit includes a resistor R63
  • 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.
  • the reserved USB host interface module includes: a buffer U21, an interface
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • USB HUB module 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first voltage conversion circuit is a DC12V-DC5V conversion circuit
  • the second voltage conversion circuit is a DC12V-DC5V conversion circuit
  • the third voltage The conversion circuit is a DC5V-DC2.5V conversion circuit.
  • the first type of system load connected to the output end of the first voltage conversion circuit is a DC5V electrical component
  • the second type of system load connected to the output end of the second voltage conversion circuit is also a DC5V electrical component
  • the third voltage conversion The third type of system connected to the output of the circuit is a DC 2.5V electrical component.
  • 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.
  • 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.
  • 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.
  • the input module input voltage is 12V
  • the corresponding input module output terminal is 12V terminal
  • the power supply ground terminal is 12G terminal.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the power supply of the system for assisting the rehabilitation of the bilateral limbs is DC12V power supply.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current regulating circuit includes a driving chip U0
  • 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
  • the output end of the driving chip U0 is the output end of the current regulating circuit.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current direction in the primary coil of the first adjustable transformer L4 flows from OUT2 to OUT1, thereby generating an alternating magnetic field.
  • 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 second adjustable transformer L5 has the same output voltage as the first adjustable transformer L4.
  • 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.
  • 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.
  • 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.
  • the common terminal GND of the driving chip U0 is also connected to the GND terminal of the PCB through the resistor R8.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • U2, U6, and U9 respectively represent three driving chips
  • L4, L5, L11, L12, L18, and L19 respectively represent six high frequency step-up transformers
  • Pl, P2, P5, P6, P10, and P11 respectively represent six.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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;
  • 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.
  • 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.
  • 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).

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un procédé, un dispositif et un système d'aide à la rééducation collaborative de membres bilatéraux. Le procédé comprend : étape I (S11), obtention d'un signal électromyographique d'un membre à rééduquer (S201), et détermination du fait qu'un utilisateur effectue activement ou non un mouvement de membre en fonction du signal électromyographique (S203) ; étape II (S12, S204), si oui, comparaison du signal électromyographique à un signal de mouvement préstocké, et détermination d'un type de mouvement du mouvement de membre actuel de l'utilisateur en fonction du résultat de comparaison ; étape III (S13, S205), génération d'une première instruction de commande correspondant au type de mouvement, et commande, en fonction du premier signal de commande, d'un support de fixation de membre d'un système de rééducation pour conduire un mouvement mécanique correspondant au type de mouvement ; étape IV (S207), envoi en outre d'une instruction de démarrage à une unité de stimulation électrique neuromusculaire du système de rééducation de façon à commander l'unité de stimulation électrique neuromusculaire pour délivrer en sortie un signal électrique ayant une intensité définie pour stimuler le membre à rééduquer ; en outre, envoi d'une deuxième instruction de commande au membre sur le côté opposé au moyen d'une poignée de commande, la deuxième instruction de commande étant adaptée pour fonctionner conjointement avec la première instruction de commande pour effectuer une tâche d'apprentissage sur un PC. Selon le procédé, un apprentissage de rééducation de membre peut être conduit en combinaison avec la conscience active d'utilisateurs, et le procédé est avantageux pour l'amélioration de l'effet d'apprentissage.
PCT/CN2017/104020 2017-09-28 2017-09-28 Procédé, dispositif et système d'aide à la rééducation collaborative de membres bilatéraux WO2019061162A1 (fr)

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DE19702406A1 (de) * 1997-01-24 1998-07-30 Edgar Hartmeyer EMG-gesteuerter Muskelstimulator
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CN106618957A (zh) * 2016-12-16 2017-05-10 南通大学 一种上肢康复机器人的体感控制方法及康复训练策略
CN107510576A (zh) * 2017-09-28 2017-12-26 广州博厚医疗技术有限公司 辅助双侧肢体协同康复的方法、装置及***

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Publication number Priority date Publication date Assignee Title
US5112296A (en) * 1991-04-30 1992-05-12 The Board Of Supervisors Of Louisiana State University Biofeedback activated orthosis for foot-drop rehabilitation
DE19702406A1 (de) * 1997-01-24 1998-07-30 Edgar Hartmeyer EMG-gesteuerter Muskelstimulator
CN101874758A (zh) * 2010-05-07 2010-11-03 中国科学院深圳先进技术研究院 辅助运动***及其控制方法
CN102716000A (zh) * 2012-06-29 2012-10-10 中国科学院自动化研究所 坐卧式下肢康复机器人及相应的助力训练控制方法
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