Rehabilitation device and method, computer storage medium and electronic equipment

Abstract

The invention discloses a rehabilitation device and method and relates to the field of assistant medical rehabilitation training equipment. The rehabilitation device comprises a functional electrostimulation part and a mechanical movement assisting part, the functional electrostimulation part comprises a stimulation electrode array and a stimulation generator connected with the stimulation electrode array and is used for generating muscle stimulation signals according to muscle control signals and sending the muscle stimulation signals to the same, and the mechanical movement assisting part comprises a muscle-bone combined structure formed by combining artificial muscle and exoskeleton and is used for generating deformation according to power-assisted control signals for the convenience ofproviding mechanical external force assistance for movement of a target joint. By combining mechanical external force assistance with functional electrostimulation, the defects of assistance throughone of the two alone can be improved; by combining physiological muscle force induced by electrostimulation with robot external force assistance, requirements on motor power can be reduced, and energyconsumption and size of external equipment are reduced, so that a system is more lightweight. 本发明公开了一种康复装置、方法，涉及辅助医疗康复训练设备领域。该康复装置包括：功能性电刺激部件，其包括刺激电极阵列和与刺激电极阵列连接的刺激发生器，用于根据肌肉控制信号产生肌肉刺激信号，发送给所述刺激电极阵列；和机械运动辅助部件，其包括人工肌肉与外骨骼结合而成的肌骨联合结构，用于根据助力控制信号产生形变以便为目标关节的运动提供机械外力辅助。将机械的外力辅助与功能性电刺激相结合可改善两者单一辅助的缺陷；而且将由电刺激诱发的生理肌力与机器人外力辅助相结合可减少对电机马达功率的要求，降低外部设备的能源消耗及体积大小，使系统更轻便。