CN113521534B

CN113521534B - Comprehensive regulation system and method for lower limb movement dysfunction

Info

Publication number: CN113521534B
Application number: CN202110800932.4A
Authority: CN
Inventors: 张熹; 眭亚楠; 陆洋; 易泽吉; 马伯志; 李路明
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2021-07-15
Filing date: 2021-07-15
Publication date: 2024-03-19
Anticipated expiration: 2041-07-15
Also published as: CN113521534A

Abstract

The present disclosure relates to a comprehensive regulation system and method for lower limb movement dysfunction. The system comprises: the device comprises a signal processing component, an electrical stimulation control component, an electrical stimulation component, a motion auxiliary instrument, an instrument control component, a sensing component and an electrode, wherein the signal processing component is used for receiving a detection signal and generating a parameter adjustment instruction and/or an instrument adjustment instruction according to the detection signal; the electrical stimulation control component is used for determining control parameters according to the parameter adjustment instruction; the instrument control assembly is configured to determine a control command based on the instrument adjustment command. According to the system of the embodiment of the disclosure, the condition that the electric stimulation generates crosstalk to the control of the muscle group can be reduced through the exercise assisting instrument, so that the action accuracy is improved. The pressure between the user and the exercise assisting device can be detected through the sensor, and the actions of the electric stimulation and the exercise assisting device can be regulated in real time, so that the countermeasure between the user and the exercise assisting device is reduced under the condition of improving the action accuracy.

Description

Comprehensive regulation system and method for lower limb movement dysfunction

Technical Field

The present disclosure relates to the field of electronic devices, and in particular, to a motion adjustment device and method, an electronic device, and a storage medium.

Background

The data show that the current spinal cord injury patients in China are more than 500 ten thousand people, the cerebral apoplexy patients are more than 1300 ten thousand people, similar diseases can cause movement dysfunction of the patients, serious patients cannot walk independently, and even cannot walk by aid of auxiliary tools. Conventional rehabilitation therapies, including physiotherapy, exercise therapy, electrical stimulation therapy, instrument assisted therapy, and the like, have unstable therapeutic effects and a ceiling effect of functional recovery, that is, in the case of irreversible damage to the brain or spinal cord, it is almost impossible to recover to an unprecedented state by treatment.

The implanted spinal epidural nerve electrical stimulation can simulate the function of brain to regulate and control the movement of lower limbs, help patients recover the movement function of lower limbs and help remodelling nerve fibers in spinal cords. However, because of the overlapping of the nerve roots of the spinal nerve root segments corresponding to the muscle groups of the lower limbs, a crosstalk (cross-talk) effect is generated while stimulating a certain muscle group, so that the gait track expected by the spinal cord electrical stimulation cannot be accurately performed. External auxiliary instruments, such as an exoskeleton robot, are used as mature lower limb movement dysfunction rehabilitation equipment, can help a patient limit gait in an expected track and help the patient control actions to perform rehabilitation training, but the exoskeleton robot is used as one of instrument auxiliary therapies, also has a ceiling effect, cannot enable the patient to obtain autonomous movement capacity, and in the treatment process of the patient, a mode of passively following a preset gait track is adopted, self-adaptive adjustment cannot be performed, so that the patient and the exoskeleton robot are opposed, the patient experience is poor, the rehabilitation will is reduced, and the recovery effect is affected.

Disclosure of Invention

The present disclosure provides a motion adjustment device and method, an electronic apparatus, and a storage medium.

According to an aspect of the present disclosure, there is provided a motion adjusting device including: the device comprises a signal processing component, an electric stimulation control component, an electric stimulation component, a sport auxiliary device, a device control component, a sensing component and an electrode, wherein the sensing component is used for detecting the pressure between a user and the sport auxiliary device and/or the action of the user to obtain detection signals, and the detection signals comprise pressure signals and/or action signals; the signal processing component is connected with the sensing component, the instrument control component and the electric stimulation control component and is used for receiving detection signals of the sensing component and generating parameter adjustment instructions and/or instrument adjustment instructions according to the detection signals; the electric stimulation control component is connected with the signal processing component and the electric stimulation component and is used for: determining control parameters for controlling the electrical stimulation component according to the parameter adjustment instructions sent by the signal processing component; and/or determining control parameters for controlling the electrical stimulation component according to a preset control parameter time sequence; the electric stimulation component is connected with the electrode and the electric stimulation component control component and is used for generating electric stimulation according to the control parameters; the electrodes are arranged at a plurality of positions outside spinal dura mater of the user and are used for outputting the electric stimulus; the instrument control assembly is coupled to the signal processing assembly and the exercise assisting instrument for: determining control instructions for controlling the exercise assisting device based on the device adjustment instructions; and/or determining a control command for controlling the exercise assisting device according to a preset device control sequence; the exercise assisting device is worn by the user for performing an action in accordance with the control instruction.

In one possible implementation, the sensing assembly includes a pressure sensor disposed on the exercise assisting device, the detection signal includes a pressure signal, and the device adjustment command is generated based on the detection signal, including: determining whether there is a motion countermeasure between the user and the exercise assisting device based on the pressure signal; in the presence of the motion countermeasure, the instrument adjustment command is generated from the pressure signal.

In a possible implementation manner, the generating a parameter adjustment instruction according to the detection signal includes: and generating the parameter adjustment instruction according to the pressure signal in the condition that the motion countermeasure exists.

In one possible implementation, the sensing assembly includes a myoelectric sensor and an acceleration sensor disposed on the skin of the user, and a pressure sensor disposed on the exercise assisting device, the pressure sensor for detecting the pressure signal, the action signal including an acceleration signal detected by the acceleration sensor and a myoelectric signal detected by the myoelectric sensor; the generating instrument adjustment instructions from the detection signals includes: and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion adjustment model for processing, and obtaining the instrument adjustment instruction.

In a possible implementation manner, the generating a parameter adjustment instruction according to the detection signal includes: and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion regulation model for processing, and obtaining the parameter regulation instruction.

In one possible implementation, the signal processing component is further configured to: receiving a first sample acceleration signal, a first sample electromyographic signal and a first sample pressure signal detected by the sensing component, inputting the first sample electromyographic signal and the first sample pressure signal into the motion adjustment model for processing, and generating a sample parameter adjustment instruction and a sample instrument adjustment instruction, so that the electrical stimulation control component determines a sample control parameter according to the sample parameter adjustment instruction to control the electrical stimulation component to generate electrical stimulation, and the instrument control component determines a sample control instruction according to the sample instrument adjustment instruction to control the exercise assisting instrument to execute actions; determining model loss of the motion adjustment model according to a second sample acceleration signal, a second sample electromyographic signal and a second sample pressure signal detected by the sensing component in the executing action process; and training the motion adjustment model according to the model loss.

In one possible implementation, the preset instrument control timing is a control timing obtained when a healthy user matching the user wears the exercise assisting instrument and performs a preset action.

According to an aspect of the present disclosure, there is provided a motion adjustment method including: generating parameter adjustment instructions and/or instrument adjustment instructions from the detection signals of the sensing assembly, causing the electrical stimulation control assembly to determine control parameters for controlling the electrical stimulation assembly in accordance with the parameter adjustment instructions, and/or causing the instrument control assembly to determine control instructions for controlling the exercise assisting instrument in accordance with the instrument adjustment instructions.

In one possible implementation, the detection signals include an electromyographic signal, an acceleration signal, and a pressure signal.

In one possible implementation, the generating the instrument adjustment instruction includes:

and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion adjustment model for processing, and obtaining the instrument adjustment instruction.

In one possible implementation manner, the generating a parameter adjustment instruction includes:

and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion regulation model for processing, and obtaining the parameter regulation instruction.

In one possible implementation, the method further includes: receiving a first sample acceleration signal, a first sample electromyographic signal and a first sample pressure signal detected by the sensing component, inputting the first sample electromyographic signal and the first sample pressure signal into the motion adjustment model for processing, and generating a sample parameter adjustment instruction and a sample instrument adjustment instruction, so that the electrical stimulation control component determines a sample control parameter according to the sample parameter adjustment instruction to control the electrical stimulation component to generate electrical stimulation, and the instrument control component determines a sample control instruction according to the sample instrument adjustment instruction to control the exercise assisting instrument to execute actions; determining model loss of the motion adjustment model according to a second sample acceleration signal, a second sample electromyographic signal and a second sample pressure signal detected by the sensing component in the executing action process; and training the motion adjustment model according to the model loss.

According to an aspect of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to perform the above method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the technical aspects of the disclosure.

FIG. 1 illustrates a block diagram of a motion adjustment device according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of an electrode according to an embodiment of the present disclosure;

FIG. 3 illustrates a flow chart for obtaining instrument control timing according to an embodiment of the present disclosure;

FIG. 4 illustrates a flowchart for obtaining instrument control timing according to an embodiment of the present disclosure;

fig. 5A and 5B illustrate application diagrams of a motion adjustment device according to an embodiment of the present disclosure;

FIG. 6 illustrates a block diagram of an electronic device according to an embodiment of the disclosure;

Fig. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.

Fig. 1 shows a block diagram of a motion adjustment device according to an embodiment of the present disclosure, as shown in fig. 1, the device comprising: a signal processing assembly 11, an electrical stimulation control assembly 12, an instrument control assembly 13, an electrical stimulation assembly 14, a exercise assisting instrument 15, a sensing assembly 16 and an electrode 17,

the sensing assembly 16 is configured to detect pressure between a user and the exercise assisting device and/or motion of the user, and to obtain a detection signal comprising a pressure signal and/or a motion signal;

the signal processing component 11 is connected with the sensing component 16, the instrument control component 13 and the electric stimulation control component 12 and is used for receiving detection signals of the sensing component 16 and generating parameter adjustment instructions and/or instrument adjustment instructions according to the detection signals;

the electrical stimulation control assembly 12 is connected with the signal processing assembly 11 and the electrical stimulation assembly 14 for:

determining control parameters for controlling the electrical stimulation component 14 according to the parameter adjustment instructions sent by the signal processing component 11; and/or

Determining control parameters for controlling the electrical stimulation assembly 14 according to a preset control parameter timing;

The electric stimulation component 14 is connected with the electrode 17 and the electric stimulation control component 12 and is used for generating electric stimulation according to the control parameters;

the electrodes 17 are arranged at a plurality of positions outside the spinal dura of the user for outputting the electrical stimulation;

the instrument control assembly 13 is connected to the signal processing assembly 11 and the exercise assisting instrument 15 for:

determining control instructions for controlling the exercise assisting device based on the device adjustment instructions; and/or

Determining a control instruction for controlling the exercise assisting device according to a preset device control time sequence;

the exercise assisting device 15 is worn by the user for performing an action according to the control instruction.

According to the movement adjusting device disclosed by the embodiment of the invention, the condition that the electric stimulation generates crosstalk to the control of the muscle group can be reduced through the movement auxiliary instrument, and the movement accuracy is improved. The pressure between the user and the exercise assisting device can be detected through the sensor, the action of the electric stimulation and the exercise assisting device can be regulated in real time, under the condition of improving the action precision, the countermeasure between the user and the exercise assisting device is reduced, the experience of the user is improved, the rehabilitation will is enhanced, and the recovery effect is improved.

In one possible implementation, the gait cycle is generally divided into a stance phase and a swing phase during exercise, such as walking, wherein the swing phase comprises about 40% of the gait cycle time and the stance phase comprises about 60% of the gait cycle time. The hip, knee and ankle joints respectively complete corresponding actions in the gait cycle, so as to form a complete gait track. Hip joint buckling, knee joint buckling, ankle joint dorsiflexion and knee joint extension are needed to complete in the swing period; the support period requires hip and knee extension to support body weight.

In one possible implementation, for the above gait cycle, the limb movements are mainly controlled by the lumbo-sacral section of the spinal cord, respectively: L1-L5 segments of the spinal cord (lumbar spinal cord), S1 and S2 segments (sacral segments).

In an example, in the gait cycle, the 6 related actions, the muscle groups involved in the actions, and spinal nerve root segments controlling each muscle group are respectively: in the hip bending action, the muscle group comprises a lumbar muscle, an ilium muscle, a rectus femoris muscle, a short adductor muscle, a long adductor muscle and a tensor fascia lata, spinal nerve root sections for controlling the action of the lumbar muscle comprise L1, L2, L3 and L4 sections, spinal nerve root sections for controlling the action of the ilium muscle comprise L1, L2, L3 and L4 sections, spinal nerve root sections for controlling the action of the rectus femoris muscle comprise L2, L3 and L4 sections, spinal nerve root sections for controlling the action of the short adductor muscle and the long adductor muscle comprise L2, L3 and L4 sections, and spinal nerve root sections for controlling the action of the tensor fascia lata muscle comprise L4, L5 and S1 sections; in the extensor action, the muscle group includes gluteus maximus, biceps femoris longus, semimembranous muscle, semitendinosus, gluteus medius, the spinal nerve root segment controlling gluteus maximus action includes L5, S1, S2 segments, the spinal nerve root segment controlling biceps femoris longus action includes L5, S1, S2 segments, the spinal nerve root segment controlling semimembranous muscle action includes L4, L5, S1, S2 segments, the spinal nerve root segment controlling semitendinosus action includes L4, L5, S1, S2 segments, the spinal nerve root segment controlling gluteus medius action includes L4, L5, S1 segments; in knee bending action, the muscle group comprises semitendinotefuran muscle, semimembranous muscle, biceps femoris longus and gastrocnemius, spinal nerve root sections for controlling the action of the semitendinotefuran muscle comprise L4, L5, S1 and S2 sections, spinal nerve root sections for controlling the action of the semimembranous muscle comprise L4, L5, S1 and S2 sections, spinal nerve root sections for controlling the action of biceps femoris longus comprise L5, S1 and S2 sections, and spinal nerve root sections for controlling the action of the gastrocnemius comprise S1 and S2 sections; in the knee extension action, the participating muscle group comprises quadriceps femoris, and spinal nerve root segments for controlling the quadriceps femoris action comprise L2, L3 and L4 segments; in ankle flexion (dorsiflexion) movements, the muscle groups involved include the tibialis anterior, extensor hallucis longus, extensor digitorum longus, the spinal cord nerve root segment controlling the tibialis anterior movements includes the L4, L5 segments, the spinal cord nerve root segment controlling the extensor digitorum longus movements includes the L5, S1, S2 segments, the spinal cord nerve root segment controlling the extensor digitorum longus movements includes the L4, L5, S1, S2 segments; in the ankle extension (plantarflexion) action, the muscle group involved includes gastrocnemius, longus hallucis, posterior tibial muscle, longus toe flexor, spinal cord nerve root segments controlling gastrocnemius action include S1, S2 segments, spinal cord nerve root segments controlling longus hallucis action include L5, S1, S2 segments, spinal cord nerve root segments controlling posterior tibial muscle action include L5, S1, S2 segments, spinal cord nerve root segments controlling longus toe flexor action include L5, S1, S2 segments.

The above list of 6 actions, muscle groups involved in the action, and spinal nerve root segments controlling the muscle groups is merely exemplary, and other actions, muscle groups, and spinal nerve root segments may be involved in the gait cycle, not explicitly shown. The exercise process may include not only walking processes, but also other processes, such as standing, running, jumping, etc., and the actions, muscle groups, and spinal nerve root segments involved in other processes are not specifically recited herein.

In one possible implementation, taking the walking process described above as an example only, each simple action may involve multiple muscle groups, and multiple spinal nerve root segments controlling the muscle groups. Therefore, if the user is a patient suffering from spinal cord injury, cerebral apoplexy or other diseases, if the spinal cord function is lost or partially lost, external electrical stimulation is required to be performed on each spinal nerve root segment to activate the proprioceptive loop, induce the target muscle group to generate the required contraction, and further control each muscle group to complete the corresponding action.

In one possible implementation, the same spinal nerve root segment may correspond to multiple muscle groups during control. The normal brain can provide more accurate signaling to finely control muscle group movements. However, if the user is the patient, the stimulation is performed by an external electric pulse signal. As described above, it is difficult to perform fine motion control like the brain due to the influence of crosstalk, that is, when a spinal nerve root segment is stimulated, a plurality of muscle groups are controlled, and thus, the motion is not coordinated. In view of the above problems, a exercise assisting apparatus may be further worn by a user to make the movements of the user more accurate, and the exercise assisting apparatus may include an exoskeleton robot that can normalize the movements, i.e., preset accurate movements, and adjust the body of the user to a standard gait when the user makes the movements so that the movements are more coordinated, however, if the movements of the user are inconsistent with the movements of the exoskeleton robot, a force countermeasure may be generated between the user and the exoskeleton robot, so that the wearing feeling of the user is poor and the training effect is reduced.

In one possible implementation, to overcome the above-mentioned problems, the actions of the user can be coordinated by controlling the electric stimulation on the outer spinal cord and the actions of the exercise assisting device, and the countermeasure with the outer exercise assisting device is reduced, so that the wearing feeling and the therapeutic effect of the user can be improved if the actions can be completed.

In one possible implementation, the pressure between the user and the exercise assisting device may be detected by a sensing assembly, a pressure signal obtained to determine whether there is exercise opposition between the user and the exercise assisting device, e.g., if the pressure is greater than a certain threshold, the electrical stimulation of the user's epidural space may be adjusted, and/or the motion of the exercise assisting device may be adjusted such that the exercise opposition is reduced. For example, where the motion of the exercise assisting device is greater, the user's motion caused by the electrical stimulation is less, and exercise antagonism may be created, in which case the electrical stimulation to the user's epidural may be enhanced to increase the user's amplitude of motion, and/or the amplitude of motion of the exercise assisting device may be decreased, such that the exercise antagonism is decreased.

In one possible implementation, the sensing assembly may also be used to detect user movements and obtain movement signals, such as myoelectrical signals of individual muscle groups of the user and acceleration signals during patient lower limb movements. The signals may be used to determine the current motion and posture of the user, determine the user's motion intent, etc., such that the instrument control assembly may control the exercise assisting instrument to perform the corresponding motion, and such that the electrical stimulation control assembly applies the corresponding electrical stimulation to the user's epidural space, such that the user may perform the corresponding motion. In an example, the sensors may include pressure sensors, myoelectric sensors, and acceleration sensors, the pressure sensors may be disposed on the exercise assisting device, the myoelectric sensors and the acceleration sensors may be disposed on the skin of the user, for example, the myoelectric sensors may be disposed on the skin of the surfaces of the user's bicep, gluteus medius, rectus, bicep, tibialis, and gastrocnemius, the acceleration sensors may be disposed on the skin of the surfaces of the user's instep, heel, ankle, front side of the legs, front side of the thighs, and hip joints, and the pressure sensors may be disposed on the thighs, lower legs, and feet of the exercise assisting device. The present disclosure does not limit the set position of the sensing assembly.

In one possible implementation, the manner in which the apparatus control assembly controls the exercise assisting apparatus, and the manner in which the electrical stimulation control assembly applies the electrical stimulation may be preset, for example, when it is determined that the user is about to perform a certain action, the apparatus control assembly may issue a corresponding control instruction to the exercise assisting apparatus to perform the action, and the electrical stimulation control assembly may issue a corresponding control parameter to the electrical stimulation assembly, such that the electrical stimulation assembly generates the electrical stimulation according to the control parameter, and outputs the electrical stimulation through the electrode implanted outside the spinal cord dura to stimulate the corresponding spinal nerve root segment, such that the user performs the corresponding action. The manner in which the instrument control assembly is controlled and the manner in which the electrical stimulation is applied by the electrical stimulation control assembly is described below.

In one possible implementation manner, when the electric stimulation component is controlled, a control parameter time sequence of the electric stimulation control component can be formulated, and the electric stimulation component is controlled through the control parameter time sequence, so that the electric stimulation component generates electric stimulation according to a preset time sequence, and each muscle group of a user can be respectively controlled according to the time sequence to complete corresponding actions.

In one possible implementation manner, the electrical stimulation control component is a control device, the electrical stimulation component is an executing device, the electrical stimulation control component can complete control over the electrical stimulation component according to the generated control parameters, so that the electrical stimulation component generates electrical stimulation according to the control parameter time sequence corresponding to the control parameters, for example, the electrical stimulation mode, the stimulation time, the amplitude, the pulse width, the electrode contact, the stimulation duration and the like of the electrical stimulation can be controlled by the control parameters, so that the electrical stimulation component generates the electrical stimulation according to the time sequence, and the electrical stimulation is output by clicking. In an example, 1-16 stimulation timings may be set for the electrical stimulation control assembly, and each stimulation timing may independently set 1-4 sets of control parameters to control each contact of the electrode, so that each contact of the electrode outputs electrical stimulation according to the timing corresponding to the control parameters, so as to control the muscle group to complete the action. The control parameters can be set according to the movement sequence, movement intensity and other parameters of the muscle groups participating in the movement, and can be repeatedly adjusted until the movement of the user is consistent with the target movement under the electric stimulation.

Fig. 2 illustrates a schematic view of an electrode according to an embodiment of the present disclosure, as shown in fig. 3, which may include a cylindrical electrode, a sheet electrode, etc., which may include 8, 16, 24, or 32 contacts, is placed outside the spinal dura by way of surgical implantation, and covers spinal nerve root segments that control the motor function of the lower limb to apply electrical stimulation to the corresponding spinal nerve root segments through each contact. The present disclosure does not limit the type of electrode.

In one possible implementation, in controlling the exercise assisting device, device control timing may be formulated to control portions of the exercise assisting device separately in time sequence such that the exercise assisting device performs an action. For example, the hip, knee, ankle, etc. portions of the exercise assisting device are controlled separately in time series so that the exercise assisting device performs the motions entirely. The instrument control timing may be preset, for example, the instrument control timing of a variety of common actions may be preset, such that the exercise assisting instrument is capable of performing a variety of actions under the control of the instrument control assembly.

In one possible implementation, the preset instrument control timing is a control timing obtained when a healthy user matching the user's stature wears the exercise assisting instrument and performs a preset action. In an example, a healthy user that matches the user's stature may include a user that is within a certain range of the user's stature, e.g., a healthy user may be considered to match if the healthy user's stature is less than a preset threshold; for example, a healthy user may be considered to have a fit if the leg length difference from the user is less than a preset threshold; for example, if the difference between the ratio of the healthy user to the upper and lower limbs of the user is smaller than a preset ratio threshold, the body can be considered to be matched; for another example, a healthy user may be considered to be a fit if the difference in the length ratios of the thighs to the calves of the user is less than a preset ratio threshold. The present disclosure is not limited to standards for stature matching.

Fig. 3 illustrates a flow chart for acquiring instrument control timing according to an embodiment of the present disclosure, as shown in fig. 3, healthy user motion signals, e.g., electromyographic signals, somatic acceleration signals, posture signals, etc., of a healthy user, which match the user's (patient) stature, may be acquired by a sensing assembly and appropriately adjusted based on these signals to match the patient's motion. For example, the gait path of the exercise assisting device when performing the motion requested by the patient may be obtained by adjusting the device to the patient's requirements (e.g., smaller stride, slower pace, etc.), and the gait path may be written to the mechanical control unit, e.g., a control scheme capable of completing the gait path may be written to the mechanical control unit to be controlled directly using the scheme when performing the motion subsequently.

Further, the gait track can be segmented and marked before each segment starts, and the adjustment of actions and the matching of electric stimulation can be performed in segments. For example, the gait track can be marked by dividing the gait track into six stages of heel strike, mid-stance, end-stance, early swing and mid swing, and after marking, the electrical stimulation can be matched for each marked stage. For example, the patient is put on the exercise assisting device and the electric stimulation is applied to the spinal nerve root segment corresponding to the patient so that the patient performs the corresponding motion phase, if there is a motion countermeasure between the motion performed by the patient after receiving the electric stimulation and the motion of the exercise assisting device (for example, the patient is inconsistent with the motion habit of a healthy user or the motion due to a slight difference in stature), the patient may feel uncomfortable, and thus, the parameters of the device control unit may be adjusted so that the motion countermeasure is reduced, the above-described process may be repeatedly performed so that the patient feels comfortable, and the debugging of this phase may be completed and the next phase is entered. After the debugging of all the stages of the action is completed, the control mode of the action can be saved, and the control mode can be directly used for controlling the exercise assisting device when the action is executed later.

In one possible implementation, instrument control timing may be obtained through a machine learning model.

FIG. 4 illustrates a flow chart for obtaining instrument control timing according to an embodiment of the present disclosure, as shown in FIG. 4, a machine learning model may be trained by myoelectric signals, acceleration signals, pressure signals of a healthy user, and actions of the healthy user. After acquisition, the acquired signals may be pre-processed, e.g., normalized, interpolated, screened, dimension reduced, etc., and the present disclosure is not limited in the type of pre-processing. Subsequently, a machine learning model may be selected, e.g., a neural network model, a support vector machine model, a bayesian model, a decision tree model, etc., and the present disclosure is not limited to the type of machine learning model. The machine learning model can select part or all of the electromyographic signals, the acceleration signals and the pressure signals of the healthy user to operate so as to generate a control signal, and under the control of the control signal, the exercise assisting device can make actions, so that the machine learning model can be trained by utilizing errors between the actions and the actions of the healthy user. For example, the trained super-parameters, e.g., learning rate, may be adjusted and the parameters of the machine learning model adjusted under the super-parameters. In an example, if there is a discrepancy in motion between a healthy user and the exercise assisting device, an exercise countermeasure may be generated, resulting in a greater pressure signal, and parameters of the machine learning model may be adjusted in a direction that decreases the pressure signal. And may be iterated multiple times until the exercise assisting device is consistent with the motion of a healthy user, or has a small error.

In one possible implementation, the machine learning model may then be imported into the machine control assembly and upon detection of signals of the patient's electromyographic signals, acceleration signals, pressure signals, etc., by the sensing assembly, the exercise assisting device is caused to perform a corresponding action. Meanwhile, the motion and/or the electric stimulation of the exercise assisting device can be adjusted according to the pressure signal between the patient and the exercise assisting device when the patient performs the motion, so that the exercise countermeasure is reduced, the pressure is reduced, the patient wears the exercise assisting device comfortably, and the motion is coordinated. For example, the assist level, gait trajectory, etc. of the exercise assisting device may be adjusted, and the control parameters of the electrical stimulation control assembly may be adjusted to adjust the electrical stimulation such that the motion of the exercise assisting device matches the motion of the patient. After the adjustment is completed, the control mode of the motion can be saved for the subsequent direct use of the control mode to control the exercise assisting device when the motion is performed.

In one possible implementation, after the predetermined control pattern (e.g., predetermined timing) is determined, the patient may use the control pattern to perform the exercise. For example, when the sensing component detects signals such as an electromyographic signal, an acceleration signal, a pressure signal and the like, the electrical stimulation control component can determine the time sequence of the control parameters according to the signals and determine the control parameters to send to the electrical stimulation component, so that the electrical stimulation component generates electrical stimulation according to the control parameters and outputs the electrical stimulation through the electrodes, and the patient can execute actions under the electrical stimulation. Meanwhile, the instrument control assembly may determine a control timing based on the signals and determine a control command based on the control timing to send to the exercise assisting instrument such that the exercise assisting instrument performs an action based on the control command.

In one possible implementation, the sensing assembly may also collect electromyographic signals, acceleration signals, pressure signals, and the like in real time during exercise to adjust the motion of the electrical stimulation and the exercise assisting device in real time during exercise so that the patient coordinates with the motion of the exercise assisting device.

In one possible implementation, the sensing component may send the above-described signals to a signal processing component, which may analyze whether the actions are coordinated or not, and if not, adjust the electrical stimulation control component and/or the instrument control component, i.e., generate parameter adjustment instructions and/or instrument adjustment instructions.

In one possible implementation, the generating the instrument adjustment instruction according to the detection signal includes: determining whether there is a motion countermeasure between the user and the exercise assisting device based on the pressure signal; in the presence of the motion countermeasure, the instrument adjustment command is generated from the pressure signal.

In one possible implementation, the signal processing component may determine from the pressure signal whether there is motion contrast between the user (patient) and the exercise assisting device, e.g., if the magnitude of the pressure signal exceeds a pressure threshold, the patient may be considered uncoordinated with the motion assisting device motion, and the motion of the exercise assisting device may need to be adjusted if motion contrast is generated. In an example, an instrument adjustment command may be generated based on the pressure signal, and the instrument control assembly may be adjusted based on the instrument adjustment command, e.g., in a direction to decrease the pressure. In an example, if the amplitude of motion of the exercise assisting device is greater and the patient's amplitude of motion is less and exercise opposition is produced, the device adjustment instructions may be used to cause the device control assembly to generate control instructions that reduce the amplitude of motion, thereby reducing the amplitude of motion of the exercise assisting device to reduce the exercise opposition. In another example, if the amplitude of motion of the exercise assisting device is small and the patient's amplitude of motion is large and exercise opposition is produced, the device adjustment instructions may be used to cause the device control assembly to generate control instructions that increase the amplitude of motion, thereby increasing the amplitude of motion of the exercise assisting device to decrease the exercise opposition.

In one possible implementation, at the same time, the signal processing component may also generate parameter adjustment instructions to adjust the control parameters of the electrical stimulation control component. The generating parameter adjustment instructions according to the detection signals comprises the following steps: and generating the parameter adjustment instruction according to the pressure signal in the condition that the motion countermeasure exists.

In one possible implementation, the electrical stimulation control assembly may adjust the electrical stimulation in accordance with parameter adjustment instructions, e.g., in a direction to reduce pressure. In an example, if the amplitude of motion of the exercise assisting device is greater and the patient's amplitude of motion is less and exercise resistance is produced, the parameter adjustment instructions may be used to cause the electrical stimulation control assembly to generate control parameters that increase the amplitude of motion, thereby increasing the intensity of the electrical stimulation generated by the electrical stimulation assembly to increase the amplitude of motion of the patient to decrease exercise resistance. In another example, if the amplitude of motion of the exercise assisting device is small and the patient's amplitude of motion is large and exercise resistance is produced, the parameter adjustment instructions may be used to cause the electrical stimulation control assembly to generate control parameters that reduce the amplitude of motion, thereby reducing the intensity of the electrical stimulation generated by the electrical stimulation assembly to reduce the amplitude of motion of the patient to reduce exercise resistance.

In one possible implementation, the step of adjusting the motion of the electrical stimulation and/or the exercise assisting device during exercise may be performed by an exercise adjustment model, which may be a neural network model, a support vector machine model, a bayesian model, a decision tree model, or the like, and the present disclosure is not limited to the type of exercise adjustment model.

In one possible implementation, the generating the instrument adjustment instruction according to the detection signal includes: and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion adjustment model for processing, and obtaining the instrument adjustment instruction. And/or said generating parameter adjustment instructions from said detection signal comprises: and inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion regulation model for processing, and obtaining the parameter regulation instruction. That is, whether to adjust may be automatically determined by the motion adjustment model based on the signals described above, and if adjustment is desired, instrument adjustment instructions and/or parameter adjustment instructions may be automatically generated. To accurately adjust the motion and electrical stimulation of the exercise assisting device.

In one possible implementation, the motion adjustment model may be trained. The signal processing component is further configured to: receiving a first sample acceleration signal, a first sample electromyographic signal and a first sample pressure signal detected by the sensing component, inputting the first sample electromyographic signal and the first sample pressure signal into the motion adjustment model for processing, and generating a sample parameter adjustment instruction and a sample instrument adjustment instruction, so that the electrical stimulation control component determines a sample control parameter according to the sample parameter adjustment instruction to control the electrical stimulation component to generate electrical stimulation, and the instrument control component determines a sample control instruction according to the sample instrument adjustment instruction to control the exercise assisting instrument to execute actions; determining model loss of the motion adjustment model according to a second sample acceleration signal, a second sample electromyographic signal and a second sample pressure signal detected by the sensing component in the executing action process; and training the motion adjustment model according to the model loss.

In one possible implementation, the patient may be caused to wear the exercise assisting device and carry the sensing assembly while training, and the first sample acceleration signal and the first sample electromyographic signal of the patient, and the first sample pressure signal between the patient and the exercise assisting device, are detected while in motion. The motion adjustment model may generate sample instrument adjustment instructions and sample parameter adjustment instructions based on the signals. Sample instrument adjustment instructions may be used to cause the instrument control assembly to adjust the performance of the exercise assisting instrument and sample parameter adjustment instructions may be used to cause the electrical stimulation control assembly to adjust the control parameters to adjust the electrical stimulation generated by the electrical stimulation assembly.

In one possible implementation, the sensing assembly may also acquire the second sample acceleration signal, the second sample electromyographic signal, and the second sample pressure signal in real time after adjusting the performance of the exercise assisting device and the electrical stimulation to determine the current exercise state of the patient, as well as the exercise countermeasure situation. In an example, the adjustment may be in a direction that reduces the resistance to movement, i.e. the pressure is reduced, i.e. after the adjustment described above, the movement state of the patient should be brought closer to the movement state of the exercise assisting device. Thus, model loss may be determined based on the second sample acceleration signal, the second sample electromyographic signal, and the second sample pressure signal, and the motion countermeasure may be reduced by adjusting parameters of the motion adjustment model in an emulation that reduces model loss.

In one possible implementation, the training may be performed multiple times, so that the exercise adjustment model may accurately output parameter adjustment instructions and instrument adjustment instructions according to the acceleration signals, the electromyographic signals, and the pressure signals, so that after the electrical stimulation control assembly and the instrument control assembly adjust according to the instructions, the patient and the exercise assisting instrument move more cooperatively, and the exercise resistance is smaller.

According to the movement adjusting device disclosed by the embodiment of the invention, the condition that the electric stimulation generates crosstalk to the control of the muscle group can be reduced through the movement auxiliary instrument, and the movement accuracy is improved. And can set the motion of the exercise assisting device based on the motion of the healthy person. Further, the pressure between the user and the exercise assisting device can be detected through the sensor, the action of the electric stimulation and the exercise assisting device can be regulated in real time, under the condition of improving the action precision, the countermeasure between the user and the exercise assisting device is reduced, the experience of the user is improved, the rehabilitation will is enhanced, and the recovery effect is improved.

Fig. 5A and 5B illustrate an application schematic of a motion adjustment device according to an embodiment of the present disclosure, and as illustrated in fig. 5A, an electrical stimulation assembly may be carried around by a patient to generate electrical stimulation based on control parameters of the electrical stimulation control assembly and connected to electrodes through which the electrical stimulation is output extraspinal durally to the patient. The signal processing component, the electrical stimulation control component, and the instrument control component may be integrated into one device, e.g., the components may be integrated with the point itself component.

In one possible implementation, the manner in which the instrument control assembly controls the exercise assisting instrument, and the manner in which the electrical stimulation control assembly applies the electrical stimulation, may be preset. For example, control signals for the instrument control assembly may be set by the actions of a healthy person, and control parameters for the electrical stimulation control assembly may be determined from the correspondence of each spinal nerve root segment to the muscle group.

In one possible implementation, the patient's motion may be determined from the electromyographic signals and acceleration signals detected by the sensing assembly during performance of the motion to determine corresponding control parameters and control signals. The electrical stimulation assembly is caused to generate electrical stimulation based on the control parameters to stimulate spinal nerve root segments of the patient via the electrodes such that the patient completes the action. And causing the exercise assisting device to perform an action in accordance with the control signal.

In one possible implementation, the patient motion may be uncoordinated with the exercise assisting device, and the signal processing component may generate parameter adjustment instructions and device adjustment instructions according to the pressure signal, the electromyographic signal, and the acceleration signal to adjust the motion of the electrical stimulation and the exercise assisting device, so that the patient motion is coordinated with the exercise assisting device, thereby reducing exercise antagonism, improving user experience, enhancing rehabilitation will, and improving recovery effect.

In one possible implementation, the present disclosure further provides a motion adjustment method, including: generating parameter adjustment instructions and/or instrument adjustment instructions from the detection signals of the sensing assembly, causing the electrical stimulation control assembly to determine control parameters for controlling the electrical stimulation assembly in accordance with the parameter adjustment instructions, and/or causing the instrument control assembly to determine control instructions for controlling the exercise assisting instrument in accordance with the instrument adjustment instructions.

It will be appreciated that the above-mentioned method embodiments of the present disclosure may be combined with each other to form a combined embodiment without departing from the principle logic, and are limited to the description of the present disclosure. It will be appreciated by those skilled in the art that in the above-described methods of the embodiments, the particular order of execution of the steps should be determined by their function and possible inherent logic.

In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

The disclosed embodiments also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method. The computer readable storage medium may be a non-volatile computer readable storage medium.

The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to perform the above method.

The disclosed embodiments also provide a computer program product comprising computer readable code which, when run on a device, causes a processor in the device to execute instructions for implementing the image processing method as provided in any of the embodiments above.

The disclosed embodiments also provide another computer program product for storing computer readable instructions that, when executed, cause a computer to perform the operations of the image processing method provided in any of the above embodiments.

The electronic device may be provided as a terminal, server or other form of device.

Fig. 6 shows a block diagram of an electronic device 800, according to an embodiment of the disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.

Referring to fig. 6, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen between the electronic device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only an edge of a touch or slide action, but also a duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the electronic device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including computer program instructions executable by processor 820 of electronic device 800 to perform the above-described methods.

Fig. 7 illustrates a block diagram of an electronic device 1900 according to an embodiment of the disclosure. For example, electronic device 1900 may be provided as a server. Referring to FIG. 7, electronic device 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.

The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate an operating system based on a memory 1932, such as Windows Server ^TM ，Mac OS X ^TM ，Unix ^TM ,Linux ^TM ，FreeBSD ^TM Or the like.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of electronic device 1900 to perform the methods described above.

The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A motion adjustment device, the device comprising: a signal processing component, an electric stimulation control component, an electric stimulation component, a exercise assisting device, a device control component, a sensing component and an electrode,

The sensing component is used for detecting the pressure between a user and the exercise assisting device and the action of the user to obtain detection signals, the detection signals comprise pressure signals and action signals, the user is a spinal cord injury patient, if the pressure is larger than a threshold value, the action performed after the user is stimulated by electricity is represented to have exercise opposition with the exercise assisting device, and the action is performed after the user is stimulated by electricity;

the signal processing component is connected with the sensing component, the instrument control component and the electric stimulation control component and is used for receiving detection signals of the sensing component and generating parameter adjustment instructions and instrument adjustment instructions according to the detection signals under the condition that the pressure is greater than a threshold value;

the electric stimulation control component is connected with the signal processing component and the electric stimulation component and is used for:

determining control parameters for controlling the electrical stimulation component according to the parameter adjustment instructions sent by the signal processing component;

the electric stimulation component is connected with the electrode and the electric stimulation component control component and is used for generating electric stimulation according to the control parameters, one or more stimulation time sequences are arranged in the electric stimulation component, and one or more groups of control parameters are arranged for a single stimulation time sequence so as to control the muscle group to complete actions;

The electrodes are arranged at a plurality of positions outside spinal dura mater of the user and are used for outputting the electric stimulus; wherein the electrode comprises a plurality of contacts covering spinal nerve root segments controlling lower limb motor function, each contact for outputting the electrical stimulus to a corresponding spinal nerve root segment;

the instrument control assembly is coupled to the signal processing assembly and the exercise assisting instrument for:

determining control instructions for controlling the exercise assisting device based on the device adjustment instructions;

the exercise assisting device is worn by the user for performing an action according to the control instruction;

the action signals comprise acceleration signals and electromyographic signals;

the generating instrument adjustment instructions from the detection signals includes:

inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion adjustment model for processing to obtain the instrument adjustment instruction;

the generating parameter adjustment instructions according to the detection signals comprises the following steps:

inputting the acceleration signal, the electromyographic signal and the pressure signal into a motion adjustment model for processing to obtain the parameter adjustment instruction;

The signal processing component is further configured to:

receiving a first sample acceleration signal, a first sample electromyographic signal and a first sample pressure signal detected by the sensing component, inputting the first sample electromyographic signal and the first sample pressure signal into the motion adjustment model for processing, and generating a sample parameter adjustment instruction and a sample instrument adjustment instruction, so that the electrical stimulation control component determines a sample control parameter according to the sample parameter adjustment instruction to control the electrical stimulation component to generate electrical stimulation, and the instrument control component determines a sample control instruction according to the sample instrument adjustment instruction to control the exercise assisting instrument to execute actions;

determining model loss of the motion adjustment model according to a second sample acceleration signal, a second sample electromyographic signal and a second sample pressure signal detected by the sensing component in the executing action process;

and training the motion adjustment model according to the model loss.

2. The apparatus of claim 1, wherein the sensing assembly comprises a pressure sensor disposed on the exercise assisting device.

3. The device of claim 1, wherein the sensing assembly comprises a myoelectric sensor and an acceleration sensor disposed on the skin of the user, and a pressure sensor disposed on the exercise assisting apparatus for detecting the pressure signal.