A segmented multi-degree-of-freedom soft actuator for human wrist rehabilitation training

Abstract

The invention belongs to the related technical field of wrist rehabilitation soft robots, and discloses a segmented multi-degree-of-freedom soft actuator for human wrist rehabilitation training, which includes a connected left single cavity and a right single cavity, a left single cavity and a right single cavity. The cavity and the right single cavity are mirror symmetrical to each other; the left single cavity includes the fixed end of the intake, the curved section, the swing section, the strain-limited layer of the curved section and the strain-limited layer of the swing section, the fixed end is connected with the curved section, and the fixed end and the curved section The section is arranged on the strain-limiting layer of the bending section; the bending section is basically rectangular, and a plurality of first grids arranged at intervals are formed on the side away from the strain-limiting layer of the bending section, and the plurality of first grids are arranged along the length of the bending section. The direction is arranged at intervals; the swing section is set on the strain-limiting layer of the swing section, and a plurality of second grids are formed on the side of the swing section far away from the strain-limit layer of the swing section, and the plurality of second grids are arranged at intervals along the length direction of the swing section. The invention can realize multi-degree-of-freedom motion, has low cost and strong applicability.

Description

Technical field [0001] The present invention belongs to the technical field of rehabilitation related software arm robot, and more particularly, to a multi-segmented software A personal freedom for the rehabilitation of the wrist actuator. Background technique [0002] Today, society aging population increase, the number of hemiplegia due to the stroke and other diseases caused by increasingly large, while the number of accidents due to the accident, traffic accidents and other causes of impaired wrist movement also increased year by year, because these patients are often physically motor dysfunction and life can not take care of themselves, family and society have brought considerable pressure. Robot-assisted rehabilitation training can save a lot of manpower and resources, and be able to quantify the assessment of the progress of the rehabilitation of patients, progressive training based on the patient's rehabilitation. [0003] In the rehabilitation of the wrist, are commercia...

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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