CN118557893A - Wearable hand functional electric stimulation rehabilitation system and implementation method - Google Patents

Abstract

The invention provides a wearable hand functional electric stimulation rehabilitation system and an implementation method thereof, comprising the following steps: the man-machine interaction system sends parameters set by a user to the microprocessor, the microprocessor sends pulse signals of corresponding parameters to the pulse signal control circuit, and meanwhile, the DAC module sends voltage signals of corresponding parameters to the pulse signal control circuit; the pulse signal control circuit changes the amplitude, frequency and duty cycle of the stimulating pulse on the electrode glove. The functional electric stimulation rehabilitation system has small volume and light weight, and can be worn on the hands of a human body; the system has a good man-machine interaction system, is high in response speed, accurate in output parameters and is provided with a display screen for displaying the set parameters; the adjustable range of parameters is wide, the pulse amplitude is adjustable by 0-50 milliamperes, the pulse frequency is adjustable by 0-8000 hertz, and the pulse duty ratio is adjustable by 0-99%, so that the adjustable range is effectively applicable to different users; the circuit uses a plurality of components to prevent current backflow, so that the safety of the system can be greatly improved.

Description

Wearable hand functional electrical stimulation rehabilitation system and implementation method

Technical Field

The present invention relates to the field of rehabilitation medical technology and the field of small wearable devices, and in particular, to a wearable hand functional electrical stimulation rehabilitation system and an implementation method thereof, and more particularly, to a wearable hand functional electrical stimulation rehabilitation system capable of controlling independent finger movement based on multiple adjustable parameters.

Background Art

With the advancement of medicine, the survival rate of stroke patients has been continuously improved, and the problem of limb dysfunction left after survival has become increasingly prominent. Hand dysfunction is an important part of limb dysfunction. Data show that more than 60% of stroke patients still have upper limb or hand dysfunction after entering the chronic stage. Hand function is essential for independence in daily life, involving fine movements such as grasping, picking up, and writing. Whether it is caused by trauma, stroke, nerve damage or other diseases, hand dysfunction seriously affects the quality of life of patients. Although traditional physical therapy and occupational therapy can help patients restore hand function to a certain extent, these methods are often time-consuming and have limited effects. Therefore, finding effective rehabilitation methods to restore hand function has become an important research direction. At present, a variety of rehabilitation equipment and methods have been developed in the field of hand rehabilitation to help patients restore hand motor ability. These methods include but are not limited to traditional physical therapy, functional electrical stimulation technology, mechanical exoskeleton technology, etc. Among them, functional electrical stimulation technology has been proven to be an effective rehabilitation method. This rehabilitation method is mainly aimed at patients with limb dysfunction caused by stroke, spinal cord injury, trauma or other neurological diseases. Functional electrical stimulation technology transmits electrical pulses to specific muscles or nerves to stimulate muscle contraction and simulate natural hand movements, thereby helping patients gradually restore hand movements and functions. Compared with other rehabilitation methods, functional electrical stimulation has many advantages: it can promote nerve regeneration and muscle remodeling; it can improve rehabilitation efficiency; it can enhance the user's sense of active participation; and it can provide personalized rehabilitation plans. It is these advantages that have promoted the rapid development of functional electrical stimulation in the field of rehabilitation medicine.

Patent document TW201309358A (application number: TW100130434) discloses a wearable upper limb electrical stimulation device with feedback control, which includes a plurality of electrical stimulation electrodes, a plurality of myoelectric signal sensing components, an electrical stimulation output unit, an myoelectric signal calculation unit and a control module. The invention can first determine the strength of the electrical stimulation signal required for the human limb to perform a specified action based on the strength of the myoelectric signal of the human limb, and give the patient appropriate assistance. Therefore, it can not only effectively activate the patient's partially disabled limbs, but also effectively train the patient's control ability over the affected limbs. However, the invention has the following shortcomings: 1) The frequency and duty cycle of the pulse signal are not adjustable, and it is impossible to provide more diverse rehabilitation treatment plans for different users; 2) It is impossible to control the independent movement of a single finger, and it is impossible to achieve the purpose of restoring the user's hand function and achieve the effect of rehabilitation treatment.

Patent document CN117159920A (application number: 202310930707.1) discloses a multi-channel functional electrical stimulation device, including a main control circuit, a signal conditioning circuit, a constant current source circuit, a protection circuit, a power supply circuit and a peripheral circuit. The main control circuit includes two parts, a host and a slave. The slave part is connected to the input end of the signal conditioning circuit to provide a DAC signal for the signal conditioning circuit, and is connected to the control end of the protection circuit to provide an on-off signal for the protection circuit. The output end of the signal conditioning circuit is connected to the input end of the constant current source circuit to provide a conditioned DAC signal for the constant current source circuit. The output end of the constant current source circuit is connected to the input end of the protection circuit to provide an output current for the protection circuit. The invention has the following shortcomings: 1) The stimulation frequency range is narrow, 1-1000 Hz, which does not reach the frequency range of medium-frequency electrical stimulation and cannot meet the treatment needs in some special cases; 2) The volume is large, it cannot be worn, and it is not convenient for users to use it in daily life.

Patent document CN117205438A (application number: 202311194949.5) discloses a wearable portable electrical stimulator based on functional electrical stimulation. The wearable electrical stimulator uses multi-channel electrical stimulation technology to place multiple electrodes on the skin surface, and realizes control and intervention of the human body's movement and sensory system through electrical stimulation. The electrical stimulator has the characteristics of low power consumption, small size, and easy use, providing broad application prospects in the fields of medical treatment, rehabilitation, fitness, etc. The system includes a controller, a multi-channel circuit, a power module, and an electrode array. The electrical stimulation parameters are set by the user through the control button, and the control signal is output to the array electrode through the multi-channel circuit to achieve functional electrical stimulation. The power module ensures the operation of the system and has multiple protection functions. The electrode array adopts a custom design, has good bendability, is light and thin, can fit the skin, realizes training for specific positions of patients, and improves the rehabilitation effect. The wearable electrical stimulator can be used for hand rehabilitation training of stroke patients, and stimulates the corresponding muscle nerve combination as needed to achieve rehabilitation training of different movements, further improving the effect of the hand rehabilitation system. The invention has the following deficiencies: 1) the frequency and duty cycle of the pulse signal cannot be adjusted, and it is impossible to provide more diverse rehabilitation treatment plans for different users; 2) it is impossible to control the independent movement of a single finger, and it is impossible to achieve the purpose of restoring the user's hand function and achieve the effect of rehabilitation treatment.

In general, the functional electrical stimulation devices currently available on the market have a single adjustable parameter and a narrow adjustable parameter range. There is no design solution for independent motion control of individual fingers of the hand, making it difficult to meet the diverse needs of patients with hand dysfunction in daily rehabilitation treatment.

Summary of the invention

In view of the defects in the prior art, the object of the present invention is to provide a wearable hand functional electrical stimulation rehabilitation system and an implementation method.

A wearable hand functional electrical stimulation rehabilitation system provided according to the present invention includes: a human-computer interaction system sends the parameters set by the user to a microprocessor, and the microprocessor sends a pulse signal of the corresponding parameters to a pulse signal control circuit; at the same time, a voltage signal of the corresponding parameters is sent to the pulse signal control circuit through a DAC module; the pulse signal control circuit obtains a pulse signal corresponding to the pulse parameters set by the user based on the acquired pulse signal and voltage signal, and outputs it to an electrode glove, thereby changing the amplitude, frequency and duty cycle of the stimulation pulse on the electrode glove.

Preferably, the microprocessor adopts an ARDUINO MEGA 2560 microcontroller based on the AVR architecture, which has 15 PWM pulse signal output channels inside.

Preferably, the human-computer interaction system includes a keyboard and an LED display screen;

The set pulse signal parameters and the control instructions of starting, stopping and resetting are sent to the microprocessor via the keyboard;

The LED display screen displays the pulse signal parameters and the current state of the rehabilitation system in real time, including whether the rehabilitation system is currently stimulating and the amplitude, frequency and duty cycle of the pulse stimulation.

Preferably, the keyboard includes: numeric keys, preset stimulation mode keys, a start key, a confirmation key and a reset key;

Use the digital keys to set the amplitude, frequency and duty cycle of any pulse signal within a preset range;

Using the preset stimulation mode button to select preset pulse signal parameters and stimulation mode;

Using the confirmation key to confirm the pulse signal parameters set using the numeric keys;

Using the start button to start the electrical stimulation of the rehabilitation system;

The reset button is used to stop the electrical stimulation of the rehabilitation system and reset all parameters of the pulse signal.

Preferably, the DAC module is a 12-bit digital-to-analog conversion development board based on the MCP4725 module, which uses an I2C communication interface to establish communication with the microprocessor through SDA and SCL ports; the microprocessor controls the DAC module to output a 0-5V voltage signal through the SDA and SCL ports, thereby controlling the amplitude of the pulse signal output by the pulse signal control circuit.

Preferably, it also includes a power supply system and a boost circuit;

Utilizing the power supply system to supply power to the microprocessor, boost circuit and pulse signal control circuit;

The boost circuit amplifies the voltage signal of the power supply system and outputs it to the pulse signal control circuit.

Preferably, the pulse signal control circuit comprises: a pulse signal adjustment circuit, a constant current circuit and a protection circuit;

The pulse signal control circuit adjusts the amplitude of the pulse signal based on the corresponding parameter sent by the microprocessor to the pulse amplitude set by the user according to the voltage signal sent by the DAC module;

The constant current circuit ensures that the amplitude of the output pulse signal remains constant and is not affected by changes in the skin impedance at both ends of the electrode;

The protection circuit is to prevent current from flowing backwards.

Preferably, the electrode glove comprises a tight-fitting glove fabric and a combined stimulation electrode;

The combined stimulation electrode comprises: a silver fiber fabric dry electrode and a gel wet electrode;

The silver fiber fabric dry electrode is sewn on a preset position of the tight glove fabric; and the gel wet electrode is attached to the silver fiber fabric dry electrode.

Preferably, the combined stimulation electrode comprises 10 positive electrodes and 2 negative electrodes;

The 10 positive electrodes correspond to 10 selective electrical stimulation channels, and the independent movement of a single finger is controlled by selective electrical stimulation;

The 10 positive electrodes include: a thumb flexion positive electrode, an index finger flexion positive electrode, a middle finger flexion positive electrode, a ring finger flexion positive electrode, a little finger flexion positive electrode, a thumb extension positive electrode, an index finger extension positive electrode, a middle finger extension positive electrode, a ring finger extension positive electrode and a little finger extension positive electrode;

The two negative electrodes include: a negative electrode on the palm side and a negative electrode on the back side.

A wearable hand functional electrical stimulation rehabilitation system implementation method provided by the present invention includes:

Step S1: The human-computer interaction system sends the parameters set by the user to the microprocessor;

Step S2: the microprocessor sends a pulse signal of corresponding parameters to the pulse signal control circuit; at the same time, the DAC module sends a voltage signal of corresponding parameters to the pulse signal control circuit;

Step S3: The pulse signal control circuit obtains a pulse signal corresponding to the pulse parameters set by the user based on the acquired pulse signal and voltage signal, and outputs it to the electrode glove, thereby changing the amplitude, frequency and duty cycle of the stimulation pulse on the electrode glove.

Compared with the prior art, the present invention has the following beneficial effects:

1. The wearable hand functional electrical stimulation rehabilitation system for controlling independent finger movement based on multiple adjustable parameters provided by the present invention is small in size and light in weight, and can be worn on the user's arm; it has a good user key operation system, fast response, good stability, and an LED display screen for real-time display of system status and pulse signal parameters, so that users have a good human-computer interaction experience;

2. The present invention can realize the customized setting of three pulse signal parameters at the same time. Users can set the amplitude, frequency and duty cycle of the pulse signal according to actual needs, and can provide various treatment plans for different patients. A constant current circuit is adopted, and the pulse amplitude set by the user will not change due to the different skin impedances at both ends of the electrode, which can effectively meet the needs of different users and different situations.

3. The parameters of the present invention have a wide adjustable range. The user can adjust the pulse signal amplitude within the range of 0-50 mA, the pulse signal frequency within the range of 0-8000 Hz, and the pulse signal duty cycle within the range of 0-99% through the human-computer interaction system.

4. The electrode gloves of the present invention can be easily worn on the user's hands, meeting the wearability requirements of the user's daily rehabilitation treatment; the silver fiber fabric dry electrode in contact with the user's skin will not cause discomfort to the patient due to long-term wearing, and is very convenient to put on and take off; the gel wet electrode is attached to the silver fiber fabric dry electrode and is connected to the pulse output end of the pulse signal control circuit at the same time, ensuring the stability of the pulse signal conduction;

5. The present invention can realize the control of the independent movement of a single finger. The electrode glove has 12 combined stimulation electrodes, which can realize the control of the extension or flexion of a single finger through selective stimulation, greatly improving the diversity of hand rehabilitation treatment programs.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG1 is a schematic diagram of a wearable hand functional electrical stimulation rehabilitation system that can control independent finger movement based on multiple adjustable parameters.

Figure 2 is a schematic diagram of a 4×4 keyboard.

FIG3 is a schematic diagram of the distribution of the combined stimulation electrodes on the palm side of the electrode glove.

FIG. 4 is a schematic diagram showing the distribution of the combined stimulation electrodes on the back of the hand of the electrode glove.

FIG5 is a schematic diagram of a combined stimulation electrode.

In the figure: 1-software program; 2-hardware circuit; 3-electrode glove; 4-microprocessor; 5-human-computer interaction system; 6-power supply system; 7-DAC module; 8-boost circuit; 9-pulse signal control circuit; 10-4×4 keyboard; 11-LED display; 12-digit keys; 13-preset stimulation mode key; 14-confirm key; 15-start key; 16-reset key; 17-negative electrode on one side of the palm; 18-positive electrode on the flexion of the thumb; 19-positive electrode on the flexion of the index finger Electrode; 20-middle finger flexion positive electrode; 21-ring finger flexion positive electrode; 22-little finger flexion positive electrode; 24-back of hand negative electrode; 25-thumb extension positive electrode; 26-index finger extension positive electrode; 27-middle finger extension positive electrode; 28-ring finger extension positive electrode; 29-little finger extension positive electrode; 30-half-finger tight glove; 31-tight glove fabric; 32-silver fiber fabric dry electrode; 33-gel wet electrode; 34-combined stimulation electrode.

DETAILED DESCRIPTION

The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Example 1

The wearable hand functional electrical stimulation rehabilitation system for controlling independent finger movement based on multiple adjustable parameters provided by the present invention is shown in Figure 1 and includes: a software program 1, a hardware circuit 2 and an electrode glove 3; the hardware circuit 2 includes a microprocessor 4, a human-computer interaction system 5, a power supply system 6, a DAC module 7, a boost circuit 8, and a pulse signal control circuit 9; the electrode glove 3 includes a half-finger tight glove 30, a silver fiber fabric dry electrode 32, a gel wet electrode 33 and a combined stimulation electrode 34.

The hardware circuit 2 can realize the control of the independent extension or bending movement of a single finger, and can also realize the control of the extension or bending movement of different fingers at the same time by selectively electrically stimulating the combined stimulation electrodes 34 at different specific positions.

Specifically, the human-computer interaction system combines with the software program 1 to send the parameters set by the user to the microprocessor, and the microprocessor and the software program 1 send a pulse signal of the corresponding parameters to the pulse signal control circuit. At the same time, the microprocessor 4, the software program 1 and the DAC module 7 send a voltage signal of the corresponding parameters to the pulse signal control circuit; the pulse signal control circuit 9 converts the PWM pulse signal into a pulse signal corresponding to the pulse parameters set by the user and outputs it to the electrode glove 3.

The microprocessor 4 is an ARDUINO MEGA 2560 microcontroller based on the AVR architecture, which has 15 PWM pulse signal output channels.

Among them, the human-computer interaction system 5 includes a 4×4 keyboard 10 and an LED display screen 11; the user sends the set pulse signal parameters and control instructions such as start, stop, reset, etc. to the microprocessor 4 through the keyboard, and the microprocessor 4 and the DAC module 7 output the corresponding PWM pulse signal and voltage signal to the pulse signal control circuit 9 according to the control instruction. After being processed by the pulse signal control circuit 9, a pulse signal with corresponding parameters is obtained and sent to the combined stimulation electrode 34 of the electrode glove 3; the LED display screen 11 can help the user set the pulse signal parameters and display the pulse signal parameters and the current state of the system in real time. The current state of the system includes whether the system is currently stimulating and the amplitude, frequency and duty cycle of the stimulation pulse at the electrode glove end; the amplitude, frequency and duty cycle of the stimulation pulse at the electrode glove end are the amplitude, frequency and duty cycle of the pulse stimulation set by the user.

Specifically, as shown in FIG. 2 , the 4×4 keyboard 10 includes a plurality of user operation keys, specifically including: 10 numeric keys 12 , 3 preset stimulation mode keys 13 , a start key 15 , a confirmation key 14 and a reset key 16 .

Among them, the 10 digital buttons 12 and the confirmation button 14 are used to set the pulse signal parameters. When the system is turned on, the frequency, pulse and duty cycle will be displayed on the LED screen 11 according to the code written by the software program 1. The user enters the corresponding parameters through the digital buttons 12 and presses the confirmation button 14 to confirm the parameters, thereby realizing the custom setting of the pulse stimulation signal amplitude, frequency, duty cycle and other parameters;

More specifically, the digital button 12 is used to arbitrarily set the amplitude (0-50 mA), frequency (0-8000 Hz), and duty cycle (0-99%) of the pulse signal within the design range. The preset stimulation mode button 13 is used to quickly select the preset pulse signal parameters and stimulation mode in combination with the software program 1;

The confirmation key 14 is used to confirm the pulse signal parameters set using the digital keys 12; the start key 15 is used to start the electrical stimulation of this system. After all parameters are set, after pressing the start key 15, the hardware circuit 2 will output a pulse signal of the corresponding parameters according to the set parameters; the reset key 16 is used to stop the electrical stimulation of this system and reset all parameters of the pulse signal.

When the system is turned on, the frequency, pulse and duty cycle will be displayed on the LED display screen 11. The user enters the corresponding parameters through the numeric keys 12 and confirms the parameters through the confirmation key 14; the start key 15 is used to start electrical stimulation. After all parameters are set, after pressing the start key 15, the system will output a pulse signal of the corresponding parameters according to the set parameters; the reset key 16 is used to stop electrical stimulation and reset the pulse signal parameters.

The power supply system 6 includes a switch and a 9V rechargeable lithium battery; the 9V rechargeable lithium battery supplies power to the microprocessor 4, the boost circuit 8, and the pulse signal control circuit 9.

Among them, the DAC module 7 is a 12-bit digital-to-analog conversion development board based on the MCP4725 module, which uses the I2C communication interface to establish communication with the microprocessor 4 through the SDA and SCL ports; therefore, the microprocessor 4 can accurately control the DAC module 7 to accurately output a 0-5V voltage signal through the SDA and SCL ports, and then accurately control the amplitude of the pulse signal output by the pulse signal control circuit 9.

The boost circuit 8 can amplify the 9V voltage signal into a 100V voltage signal, and output it to the pulse signal control circuit 9, so as to provide a sufficiently large voltage for subsequent electrical stimulation.

The input end of the pulse signal control circuit 9 is the 100V voltage signal provided by the boost circuit 8, the power supply voltage provided by the power supply system 6, the PWM pulse signal provided by the microprocessor 4, and the voltage signal provided by the DAC module 7. The pulse signal control circuit 9 processes the pulse signal and outputs a pulse signal with a constant pulse amplitude to the electrode glove 3, thereby applying functional electrical stimulation to the user's hand.

The pulse signal control circuit 9 includes a pulse signal adjustment circuit, a constant current circuit and a protection circuit; the pulse signal adjustment circuit adjusts the pulse amplitude set by the user based on the amplitude of the PWM pulse signal sent by the microprocessor 4 according to the voltage signal sent by the DAC module 7; the frequency and duty cycle of the pulse signal are adjusted by the software program in the microprocessor to directly change the frequency and duty cycle of the pulse signal sent by the microprocessor; the purpose of the constant current circuit is to ensure that the amplitude of the output pulse signal remains constant and is not affected by changes in the skin impedance at both ends of the electrode; the purpose of the protection circuit is to prevent current backflow and protect the safety of the user.

As shown in Figures 3 to 5, the electrode glove 3 includes a tight glove fabric 31 and a combined stimulation electrode 34; the combined stimulation electrode 34 is composed of a silver fiber fabric dry electrode 32 sewn on the glove and a gel wet electrode 33 attached to the silver fiber fabric dry electrode. The silver fiber fabric dry electrode 32 is sewn on a specific position of the tight glove fabric 31, and the gel wet electrode 33 is attached to the silver fiber fabric dry electrode 32. The silver fiber fabric dry electrode 32 has good conductivity, softness and fit, and the gel wet electrode 33 has good stability, low impedance and adhesion. The combined stimulation electrode 34 made of the two can well solve the problem that the wet electrode is inconvenient to put on and take off, and the dry electrode has high impedance and instability, which allows users to put on and take off the electrode gloves very conveniently while meeting the user's needs for functional electrical stimulation treatment.

In this embodiment, the combined stimulation electrode 34 includes 10 positive electrodes and 2 negative electrodes; wherein, the 10 positive electrodes include: thumb flexion positive electrode 18, index finger flexion positive electrode 19, middle finger flexion positive electrode 20, ring finger flexion positive electrode 21, little finger flexion positive electrode 22, thumb extension positive electrode 25, index finger extension positive electrode 26, middle finger extension positive electrode 27, ring finger extension positive electrode 28, little finger extension positive electrode 29; the 2 negative electrodes include: a negative electrode 17 on the palm side and a negative electrode 24 on the back of the hand side.

The 10 positive electrodes correspond to 10 selective electrical stimulation channels, and the purpose is that the present invention can control the independent movement of a single finger through selective electrical stimulation. Specifically, the 10 positive electrodes control the extension and flexion of 5 fingers respectively; for example: when the system applies stimulation pulses to the negative electrode 17 on one side of the palm and the positive electrode 18 for thumb flexion, the thumb will complete the flexion movement, while the other fingers will not move; by analogy, through selective electrical stimulation, the system can independently control the extension or flexion of a certain finger; in addition, the system can stimulate multiple groups of electrodes at the same time, and control different fingers to perform flexion or extension movements at the same time.

In this embodiment, the positions of the combined stimulation electrodes 34 on the electrode glove 3 described in the present invention include: the negative electrode 17 on the palm side is located at the end of the palm, the thumb flexion positive electrode 18 is located at the thenar eminence, the index finger flexion positive electrode 19 is located at the superficial flexor tendon of the first knuckle of the index finger, the middle finger flexion positive electrode 20 is located at the superficial flexor tendon of the first knuckle of the middle finger, the ring finger flexion positive electrode 21 is located at the superficial flexor tendon of the first knuckle of the ring finger, and the little finger flexion positive electrode 22 is located at the first knuckle of the little finger The negative electrode 24 on the back of the hand is located at the junction of the back of the hand and the wrist, that is, the extensor retinaculum; the thumb extension positive electrode 25 is located at the extensor tendon of the first joint of the thumb; the index finger extension positive electrode 26 is located at the extensor tendon of the first joint of the index finger; the middle finger extension positive electrode 27 is located at the extensor tendon of the first joint of the middle finger; the ring finger extension positive electrode 28 is located at the extensor tendon of the first joint of the ring finger; the little finger extension positive electrode 29 is located at the extensor tendon of the first joint of the little finger.

The present invention also provides a wearable hand functional electrical stimulation rehabilitation system, which can be implemented by executing the process steps of the wearable hand functional electrical stimulation rehabilitation method, that is, those skilled in the art can understand the wearable hand functional electrical stimulation rehabilitation method as a preferred embodiment of the wearable hand functional electrical stimulation rehabilitation system.

Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims (10)

1. A wearable hand functional electrical stimulation rehabilitation system, characterized in that it includes: a human-computer interaction system sends the parameters set by the user to a microprocessor, and the microprocessor sends a pulse signal of the corresponding parameters to a pulse signal control circuit; at the same time, a voltage signal of the corresponding parameters is sent to the pulse signal control circuit through a DAC module; the pulse signal control circuit obtains a pulse signal corresponding to the pulse parameters set by the user based on the acquired pulse signal and voltage signal, and outputs it to an electrode glove, thereby changing the amplitude, frequency and duty cycle of the stimulation pulse on the electrode glove. 2. The wearable hand functional electrical stimulation rehabilitation system according to claim 1 is characterized in that the microprocessor adopts an ARDUINO MEGA 2560 microcontroller based on the AVR architecture, which has 15 PWM pulse signal output channels inside. 3. The wearable hand functional electrical stimulation rehabilitation system according to claim 1, characterized in that the human-computer interaction system comprises a keyboard and an LED display screen; The set pulse signal parameters and the control instructions of starting, stopping and resetting are sent to the microprocessor via the keyboard; The LED display screen displays the pulse signal parameters and the current state of the rehabilitation system in real time, including whether the rehabilitation system is currently stimulating and the amplitude, frequency and duty cycle of the pulse stimulation. 4. The wearable hand functional electrical stimulation rehabilitation system according to claim 3, characterized in that the keyboard comprises: numeric keys, preset stimulation mode keys, start key, confirmation key and reset key; Use the digital keys to set the amplitude, frequency and duty cycle of any pulse signal within a preset range; Using the preset stimulation mode button to select preset pulse signal parameters and stimulation mode; Using the confirmation key to confirm the pulse signal parameters set using the numeric keys; Using the start button to start the electrical stimulation of the rehabilitation system; The reset button is used to stop the electrical stimulation of the rehabilitation system and reset all parameters of the pulse signal. 5. The wearable hand functional electrical stimulation rehabilitation system according to claim 1 is characterized in that the DAC module is a 12-bit digital-to-analog conversion development board based on the MCP4725 module, which uses an I2C communication interface and establishes communication with the microprocessor through the SDA and SCL ports; the microprocessor controls the DAC module to output a 0-5V voltage signal through the SDA and SCL ports, thereby controlling the amplitude of the pulse signal output by the pulse signal control circuit. 6. The wearable hand functional electrical stimulation rehabilitation system according to claim 1, further comprising a power supply system and a boost circuit; Utilizing the power supply system to supply power to the microprocessor, boost circuit and pulse signal control circuit; The boost circuit amplifies the voltage signal of the power supply system and outputs it to the pulse signal control circuit. 7. The wearable hand functional electrical stimulation rehabilitation system according to claim 1, characterized in that the pulse signal control circuit comprises: a pulse signal adjustment circuit, a constant current circuit and a protection circuit; The pulse signal control circuit adjusts the amplitude of the pulse signal based on the corresponding parameter sent by the microprocessor to the pulse amplitude set by the user according to the voltage signal sent by the DAC module; The constant current circuit ensures that the amplitude of the output pulse signal remains constant and is not affected by changes in the skin impedance at both ends of the electrode; The protection circuit is to prevent current from flowing backwards. 8. The wearable hand functional electrical stimulation rehabilitation system according to claim 1, characterized in that the electrode glove comprises a tight glove fabric and a combined stimulation electrode; The combined stimulation electrode comprises: a silver fiber fabric dry electrode and a gel wet electrode; The silver fiber fabric dry electrode is sewn on a preset position of the tight glove fabric; and the gel wet electrode is attached to the silver fiber fabric dry electrode. 9. The wearable hand functional electrical stimulation rehabilitation system according to claim 1, characterized in that the combined stimulation electrode comprises 10 positive electrodes and 2 negative electrodes; The 10 positive electrodes correspond to 10 selective electrical stimulation channels, and the independent movement of a single finger is controlled by selective electrical stimulation; The 10 positive electrodes include: a thumb flexion positive electrode, an index finger flexion positive electrode, a middle finger flexion positive electrode, a ring finger flexion positive electrode, a little finger flexion positive electrode, a thumb extension positive electrode, an index finger extension positive electrode, a middle finger extension positive electrode, a ring finger extension positive electrode and a little finger extension positive electrode; The two negative electrodes include: a negative electrode on the palm side and a negative electrode on the back side. 10. A method for implementing a wearable hand functional electrical stimulation rehabilitation system, characterized by comprising: Step S1: The human-computer interaction system sends the parameters set by the user to the microprocessor; Step S2: the microprocessor sends a pulse signal of corresponding parameters to the pulse signal control circuit; at the same time, the DAC module sends a voltage signal of corresponding parameters to the pulse signal control circuit; Step S3: The pulse signal control circuit obtains a pulse signal corresponding to the pulse parameters set by the user based on the acquired pulse signal and voltage signal, and outputs it to the electrode glove, thereby changing the amplitude, frequency and duty cycle of the stimulation pulse on the electrode glove.