Sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training

Abstract

The invention belongs to the field of related technologies of wrist rehabilitation soft robots, and discloses a sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which comprises a left single cavity and a right single cavity which are connected to each other, and the left single cavity and the right single cavity are in mirror symmetry; the left single cavity comprises an air inlet fixed end, a bent section, a swing section, a bent section strain limiting layer and a swing section strain limiting layer; the fixed end is connected to the bent section,and the fixed end and the bent section are arranged on the bent section strain limiting layer; the bending section is basically rectangular, a plurality of first grids arranged at intervals are formed on the side, away from the bending section strain limiting layer, of the bending section, and the multiple first grids are arranged at intervals in the length direction of the bending section; the swing section is arranged on the swing section strain limiting layer, a plurality of second grids are formed on the side, away from the swing section strain limiting layer, of the swing section, and the second grids are arranged at intervals in the length direction of the swing section. According to the invention, multi-degree-of-freedom motion can be realized, the cost is low, and the applicability is high.

Description

technical field [0001] The invention belongs to the related technical field of wrist rehabilitation soft robots, and more specifically relates to a segmented multi-degree-of-freedom soft actuator for human wrist rehabilitation training. Background technique [0002] Nowadays, the aging of the social population is getting worse, and the number of hemiplegia caused by stroke and other diseases is increasing. At the same time, the number of people with impaired wrist motor function caused by accidents such as production accidents and traffic accidents is also increasing year by year. Motor dysfunction and the inability to take care of themselves have brought a lot of pressure on the family and society. Robot-assisted rehabilitation training can save a lot of manpower and material resources, and can quantitatively evaluate the patient's rehabilitation progress, and carry out training step by step according to the patient's rehabilitation situation. [0003] In wrist rehabilitat...

AI Technical Summary

Problems solved by technology

[0004] Although soft actuators with flexible structures have a very good application prospect in wrist rehabilitation, the current research on soft actuators is still in the development stage, and most actuators can only achieve bending motion in one plane. Few classes of actuators can achieve multi-degree-of-freedom bending motion, yet the range of motion of these multi-degree-of-freedom actuators is too small to be applied to rehabilitation exoskeletons

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