Electric stimulation method based on inspiration of healthy side lower limb muscle synergy and system thereof

An electric stimulation control system based on inspiration of healthy side lower limb muscle synergy, comprising:

• a data acquiring and preprocessing module, configured to acquire a surface electromyographic signal and a motion posture signal of a healthy side limb of an individual during an action period;
• preprocess the signals and segment the signals according to a-motion segments of the action period to obtain a set of electromyographic signal data and a set of motion posture data;
• a healthy-side-limb motion model constructing module, configured to analyze, by using a muscle synchronous synergy extraction algorithm, the obtained electromyographic signal of the healthy side limb to obtain a muscle synergy pattern between muscles of the healthy side limb;
• an affected-limb motion model constructing module, configured to fit, for the motion posture data, an angle signal and a motion speed signal in a motion process as a motion model of the healthy side limb of the same individual, and map the obtained muscle synergy pattern to a stable angle space for avoiding time-varying influence, to obtain a motion guidance model of the affected limb of the same individual;
• and
• an electric stimulation controlling module, configured to set, according to the motion guidance model, a maximum motion angle, a motion speed, and a motion period of a lower limb rehabilitation instrument connected to the individual, and set, according to the motion guidance model, proportions of electric stimulation intensities of channels of an electric stimulator, which is contained in the lower limb rehabilitation instrument and has control points attached to skin surface of affected side lower limb muscles of the individual, and an angle range for starting the electric stimulator, such that during the low limb rehabilitation instrument being working according to the motion model of the healthy side limb of the individual, the electric stimulator is started when a motion angle of the low limb rehabilitation instrument falls within the angle range in which the muscle synergy pattern is activated, and when the motion angle does not fall within the angle range, the electric stimulator is stopped.