Soft wearable robot for elbow movement function rehabilitation

Abstract

The invention discloses a soft wearable robot for elbow movement function rehabilitation. The soft wearable robot comprises a soft wearable robot body assembly, an air cylinder, an electromagnetic proportional valve and a controller; the soft wearable robot body assembly is composed of an outer elbow sleeve, an inner elbow sleeve, a flexible bending sensor and a soft actuator assembly; and the soft actuator assembly comprises a flexible pipe, a first end sealing piece, a second end sealing piece, an air guide pipe, a woven mesh sleeve, a first end fastening piece, a second end fastening piece, a first limiting layer, a second limiting layer, a joint extension layer and a third limiting layer. The three limiting layers form a limiting structure with the elasticity modulus gradually changed on the two sides, so that the motion characteristic of the soft actuator assembly conforms to the motion characteristic of the elbow of the human body, tangential sliding between the soft actuator assembly and the skin of the elbow joint of the human body is relieved, and auxiliary force distribution is more uniform; and the joint extension layer of the soft body actuator assembly has certain axial ductility, so that the discomfort of a user is reduced.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation equipment, and in particular relates to a soft wearable robot used for rehabilitation of elbow motor function. Background technique [0002] Medical theory and practice have proved that for patients with hemiplegia caused by stroke, a large number of repetitive motor function-oriented training can restore the motor function of the limbs to a certain extent. The use of rehabilitation robots to assist patients in rehabilitation training can save a lot of human and material resources, and can quantitatively evaluate the rehabilitation status of patients in real time, which has a very positive impact on the entire rehabilitation industry. [0003] In robot-assisted training therapy, the rehabilitation robot directly interacts with the patient's limbs, and ensuring the safety and compliance of the interaction is the first element in the development of the rehabilitation robot. Traditional rehabil...

AI Technical Summary

Problems solved by technology

In the existing soft wearable robots for the rehabilitation of elbow motor function, the soft actuator usually achieves semicircular bending motion by fully constraining the elongation of one side, and its kinematic characteristics are different from those of human elbows. Larger, forcible attachment will cause tangential sliding between the soft actuator and the patient's skin, and the distribution of auxiliary force will be uneven

In addition, the skin at the elbow joint of the human body will have a certain degree of axial extension when it is bent, but the constrained side of the existing soft actuators does not have axial extensibility, and the constrained side is in direct contact with the patient's skin, which will also cause the soft A tangential force is generated between the actuator and the patient's skin, although it is a flexible structure, it still increases the user's discomfort

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