Wearable pneumatic bionic lower limb massage instrument

Abstract

The present application belongs to the technical field of medical devices, particularly relates to the field of A61H23 / 00, and specifically relates to a wearable pneumatic bionic lower limb massage instrument. The wearable pneumatic bionic lower limb massage instrument comprises a framework system, a plurality of massage parts and a control system. The framework system comprises a shank front framework and a shank lateral framework. The massage parts are arranged in a strip structure similar to fingers. The roots of the massage parts are connected to the framework system, and the side surfaces of the massage parts contact the leg muscles of a human body. The control system is connected to the massage parts and controls the massage parts to extend and bend. The wearable pneumatic bionic lower limb massage instrument is used for blood circulation massage of the legs of people who stand for a long time, and is particularly applied to preventive massage of varicose veins. The massage instrument is light in weight, simple in structure, convenient to wear, does not affect normal lower limb activities, can actively promote venous return of the lower limbs and massage the muscles in a certain area, reduces swelling and other discomforts of the lower limbs, and prevents the formation of varicose veins and venous thrombosis.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and particularly relates to the A61H23 / 00 field, specifically to a wearable pneumatic bionic lower limb massager. Background Technology

[0002] When a person stands or sits for extended periods, venous blood return in the lower limbs slows down, easily leading to stagnation, increased burden on the veins, and abnormal venous valve function. This results in varicose veins in the lower limbs, causing symptoms such as soreness, discomfort, heaviness, and fatigue. Existing devices that provide relief are primarily compression stockings for varicose veins. Wearable exoskeletons have also been developed abroad, offering short breaks for those who stand for long periods. Chinese patent CN209331196U discloses an anti-varicose vein stocking. Similar to this, compression stockings have problems such as improper sizing or prolonged wear affecting blood supply to the lower limbs, impacting skin metabolism, and reducing lower limb muscle function. Exoskeletons only offer temporary muscle relaxation; they do not solve the problems of slowed venous blood flow and stagnation in the lower limbs. Furthermore, there are currently no specific devices available to address the problem of slowed blood flow in the lower limbs caused by prolonged sitting.

[0003] In fact, simple massage movements can effectively relieve the problem of slow blood flow in the lower limbs. However, most massagers on the market are handheld, massage chairs / beds, or designed for use on chairs or beds. They are generally heavy, used in relatively fixed scenarios, and primarily target the neck, shoulders, waist, and back. There is a lack of massage devices that can effectively improve slow blood flow and congestion in the lower limbs, are easy to wear, have complete functions, allow for unrestricted movement within a certain range during use, and do not affect the overall aesthetics. Summary of the Invention

[0004] To overcome the shortcomings and limitations of the aforementioned devices, the present invention provides a device that can be worn daily, used while sitting or standing within a certain range, and can also be worn inside outer pants in certain public places without affecting the overall appearance. Its main purpose is to promote blood return in the lower limbs, while also massaging and relaxing the muscles of the lower limbs.

[0005] This invention provides a wearable pneumatic bionic lower limb massager, comprising: A skeletal system, comprising anterior lower leg skeleton and lateral lower leg skeleton; Several massage sections, each massage section being configured as a finger-like strip structure, with the base of each massage section connected to the skeletal system and the sides of each massage section contacting the muscles of the human leg. A control system connected to the massage unit, the control system controlling the extension and bending of the massage unit.

[0006] As a preferred technical solution, the anterior lower leg skeleton is T-shaped and is placed on the front of the human lower leg. The anterior lower leg skeleton is configured to adapt to the arc-shaped curvature of the human lower leg. The lateral lower leg skeleton is C-shaped and extends from the outer end of the horizontal segment of the T-shaped structure of the anterior lower leg skeleton, and then extends downward with a certain arc.

[0007] As a preferred technical solution, the connection between the lateral lower leg frame and the anterior lower leg frame is configured as a damping pivot connection structure; the lateral lower leg frame is internally provided with a damping pivot connection structure; the lateral lower leg frame is provided with an elastic fixing band on its side; and the anterior lower leg frame is provided with an elastic fixing band on its outer edge.

[0008] As a preferred technical solution, the massage part is disposed on the inner edge of the vertical segment of the T-shaped structure of the anterior calf frame; the side of the massage part connected to the anterior calf frame is disposed close to the inner calf muscle; the massage part is disposed on the posterolateral edge of the lateral calf frame; the side of the massage part connected to the lateral calf frame is disposed close to the lateral calf muscle.

[0009] As a preferred technical solution, the connection between the massage unit and the skeleton system is a fixed connection with a movable position. The skeleton system is provided with a fixed groove having a vertically extending length. A fixed seat is slidably disposed in the fixed groove, and the fixed seat includes a threaded section. A connecting seat is provided at the root of the massage unit, and the connecting seat extends into the fixed groove and engages with the threaded section of the fixed seat.

[0010] As a preferred technical solution, the massage unit includes a massage head and a corrugated tube. The massage head is disposed at the end of the massage unit, and several sections of corrugated tube are disposed between the massage head and the connecting seat. Each section of corrugated tube is provided with an independent air pressure sensor and an exhaust valve at its end. The massage head is provided with a first pressure sensor on its inner side. The massage unit also includes a 3D plant layer, which wraps around the massage head and the corrugated tube. The roots of the 3D plant layer are fixedly connected to the fixing seat.

[0011] As a preferred technical solution, a second pressure sensor is connected below the skeleton system; an elastic fixing strap is provided on the connecting line between the skeleton system and the second pressure sensor.

[0012] As a preferred technical solution, the control system includes a controller, which is connected to the massage unit via an air tube. The air tube is configured as a branch air tube within the skeleton system, each independently connected to one of the corrugated tubes. The controller is connected to each sensor via wires.

[0013] As a preferred technical solution, it also includes a waist belt, the controller is fixedly mounted on the waist belt, the waist belt and the skeleton system are connected by a protective sleeve, the protective sleeve houses the wires and air tubes; the skeleton system is configured as a mesh or cheese-like hollow structure; the air tubes and wires are spirally distributed in the hollow structure of the skeleton system; the protective sleeve is provided with an elastic fixing strap.

[0014] As a preferred technical solution, the controller is equipped with a control chip; the controller surface is equipped with buttons and an LCD screen; the controller is equipped with a battery mounting base and a high-pressure air source; the controller is equipped with an external power supply interface and an external air source interface.

[0015] Beneficial Effects: This invention provides a wearable pneumatic bionic lower limb massager for promoting blood circulation in the legs of those who stand for long periods, especially for preventative massage of varicose veins. The massager is lightweight, simple in structure, and easy to wear, without affecting normal lower limb activity. It actively promotes venous return in the lower limbs and massages muscles in a specific area, reducing lower limb swelling and discomfort, and preventing varicose veins and venous thrombosis. Compared with existing technologies, the working principle of this device is more consistent with the anatomical course of the great and small saphenous veins, more closely resembling the effect of manual massage, improving both effectiveness and user experience, and increasing comfort. The device is compact and can be worn internally, making it more user-friendly for professionals who require protective clothing. The device uses pneumatic drive, saving energy. By monitoring muscle tension, users can customize the on / off of automatic massage and adjust the massage intensity. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a wearable pneumatic bionic lower limb massager provided by the present invention; Figure 2 This is a schematic diagram of the massage area; Figure 3 It is a structural diagram of a skeleton system with an outer shell; Figure 4 This is a structural diagram of a skeleton system equipped with elastic bands; Among them, 1-skeleton system, 11-lower leg anterior skeleton, 12-lower leg lateral skeleton, 13-damping pivot, 2-massage part, 21-massage head, 22-bellows, 23-air pressure sensor, 24-exhaust valve, 25-3D fabric layer, 3-control system, 31-controller, 32-protective sleeve, 33-branch air pipe, 4-elastic fixing band, 51-fixing groove, 52-fixing seat, 53-connecting seat, 61-first pressure sensor, 62-second pressure sensor, 7-outer shell, 8-elastic band. Detailed Implementation

[0017] In this application, the terms "inner," "outer," "upper," and "lower" used to indicate direction are based on the human lower limbs. For example, "outer side of the lower leg" refers to the right side of the right leg or the left side of the left leg when the user is standing at attention. This is a provision made for ease of understanding and to avoid ambiguity.

[0018] A wearable pneumatic bionic lower limb massager includes: Skeletal system 1, the skeletal system 1 including the anterior lower leg skeleton 11 and the lateral lower leg skeleton 12; Several massage parts 2, each massage part 2 is configured as a strip structure similar to a finger, the root of each massage part 2 is connected to the skeleton system 1, and the side of each massage part 2 contacts the muscles of the human leg. A control system 3 is connected to the massage part 2, and the control system 3 controls the massage part 2 to extend and bend.

[0019] Preferably, the front and outer skeletal frames of the lower leg are equipped with a telescopic structure, which can adjust the length within a certain range as needed.

[0020] Preferably, the skeleton system is made of lightweight materials such as polyamide and has a mesh or cheese-like hollow structure. The power supply wires and air supply pipes run within it, reducing overall weight.

[0021] Preferably, the skin-contacting surface of the skeleton system is provided with a padding layer, and the skin-contacting surface of the padding layer is provided with dot-shaped or strip-shaped flexible materials to increase friction.

[0022] In some preferred embodiments, the anterior lower leg frame 11 is generally T-shaped and is placed on the front of the human lower leg. The anterior lower leg frame 11 is configured to adapt to the arc-shaped curvature of the human lower leg. The lateral lower leg frame 12 is generally C-shaped and extends from the outer end of the horizontal segment of the T-shaped structure of the anterior lower leg frame 11, and then extends downward with a certain arc.

[0023] In some preferred embodiments, the connection between the lateral lower leg frame 12 and the anterior lower leg frame 11 is provided as a damping pivot 13 connection structure; the lateral lower leg frame 12 is provided with a damping pivot 13 connection structure inside; the lateral lower leg frame 12 is provided with an elastic fixing band 4 on its side; and the anterior lower leg frame 11 is provided with an elastic fixing band 4 on its outer edge.

[0024] The outer side of the lower leg frame is mounted on the upper outer side of the anterior lower leg frame via a damping pivot. The middle and distal sections of the outer lower leg frame are equipped with damping pivots that allow for bending to conform to the outer side of the lower leg.

[0025] Preferably, the number and position of the damping pivot structure in the lateral calf skeleton are matched with the number and position of the massage parts. More preferably, the lateral calf skeleton corresponding to each pair of massage parts is connected by a damping pivot structure to ensure that the massage parts fit the outer side of the calf.

[0026] The elastic fixing band is provided with an upper fixing band and a lower fixing band, which are respectively fixedly connected to the upper posterolateral edge of the outer side of the lateral calf frame and the lower lateral edge of the anterior calf frame. The upper fixing band and the lower fixing band wrap around the calf and fix it to the inner edge of the anterior calf frame to bind the frame system to the calf.

[0027] The elastic strap is equipped with Velcro, which is used to wrap and secure the elastic strap to the leg. D-rings are provided at the upper and lower ends of the anterior calf frame, through which the upper and lower elastic straps pass and are then folded back and secured with Velcro.

[0028] In some preferred embodiments, the massage part 2 is disposed on the inner edge of the vertical segment of the T-shaped structure of the anterior calf frame 11; the side of the massage part 2 connected to the anterior calf frame 11 is disposed close to the inner calf muscle; the massage part 2 is disposed on the posterolateral edge of the lateral calf frame 12; the side of the massage part 2 connected to the lateral calf frame 12 is disposed close to the lateral calf muscle.

[0029] The massage part is finger-shaped and slightly arc-shaped overall. Two to three massage parts are provided on the inner edge of the anterior calf frame and the posterolateral edge of the lateral calf frame, respectively.

[0030] In some preferred embodiments, the connection between the massage part 2 and the skeleton system 1 is a fixed connection with a movable position. The skeleton system 1 is provided with a fixing groove 51 having a vertically extending length. A fixing seat 52 is slidably disposed in the fixing groove 51. The fixing seat 52 includes a threaded section. A connecting seat 53 is provided at the root of the massage part 2. The connecting seat 53 extends into the fixing groove 51 and engages with the threaded section of the fixing seat 52.

[0031] The fixing groove has a convex cross-section and a fixing seat is provided in the fixing groove. The fixing seat can slide within the fixing groove. A threaded section is integrally provided on the fixing seat, extending out of the fixing groove. A connecting seat is fixedly connected to the tail end of the massage part, and the connecting seat is threadedly connected to the threaded section. In some preferred embodiments, the massage part 2 includes a massage head 21 and a bellows 22. The massage head 21 is disposed at the end of the massage part 2. Several sections of bellows 22 are disposed between the massage head 21 and the connecting seat 53. Each section of bellows 22 is provided with an independent air pressure sensor 23 and an exhaust valve 24 at its end. A first pressure sensor 61 is disposed on the inner side of the massage head 21. The massage part 2 also includes a 3D fabric layer 25, which is disposed to wrap the massage head 21 and the bellows 22. The root of the 3D fabric layer 25 is fixedly connected to the fixing seat 52.

[0032] like Figure 3 As shown, a removable lightweight outer shell 7 covers the working area of ​​the massage head to maintain the normal outer contour of the leg and prevent the trouser fabric from affecting the movement of the massage head. When wearing this massager, the outer shell exists between the massage head and the user's trousers, ensuring a normal outer contour. The outline of the massage head is not visible from outside the trousers, ensuring aesthetics. At the same time, the massage head's massage movements are not affected by friction from the trousers.

[0033] like Figure 4 As shown, the working area of ​​the massage head is provided with an elastic band 8 that originates from the root of the massage head located on the inner side of the anterior calf frame, passes through the guide groove located at the root of the massage head on the inner side of the lateral calf frame, and wraps around the calf to fix it to the outer side of the anterior calf frame. The elastic band 8 has high breathability, high friction on the inner side to help fix the frame to the calf, and low friction on the outer side, thereby reducing the frictional resistance of the massage head and reducing skin damage.

[0034] Preferably, the number of corrugated pipes is three segments, each segment is independent of the others and connected by a rigid pipe, and the corrugated pipes are controlled by independent branch vents.

[0035] The massage head is covered with a 3D fabric layer, which is composed of wear-resistant fabrics with different elasticities arranged in a specific pattern to maintain the shape of the massage head, limit the direction and range of movement of the bellows, and allow the massage head to extend and bend in a specified direction. A rigid convex structure is segmentally distributed along the longitudinal axis of the massage head between the skin-contacting side of the bellows and the 3D fabric layer. The massage head is entirely rigid, with a convex structure on the skin-contacting side and a first pressure sensor fixedly mounted thereon. The first pressure sensor is connected to a control chip via a wire that runs within the skeletal system. A second pressure sensor extends from the lower end of the lateral calf skeletal frame and is connected to the second pressure sensor, also running within the skeletal system and connected to the control chip. Each segment of the bellows is equipped with an independent air pressure sensor and an exhaust valve, which are connected to the control chip within the control system via wires. The exhaust valve is used to release high-pressure air from the bellows, allowing it to be directly discharged into the atmosphere.

[0036] In some preferred embodiments, a second pressure sensor 62 is connected below the skeleton system 1; an elastic fixing strap 4 is provided on the connecting line between the skeleton system 1 and the second pressure sensor 62.

[0037] In some preferred embodiments, the control system 3 includes a controller 31, which is connected to the massage unit 2 via an air tube. The air tube is configured as a branch air tube 33 within the skeleton system 1, which is independently connected to each of the corrugated tubes 22. The controller 31 is connected to each sensor via wires.

[0038] In some preferred embodiments, a waist belt is also included, the controller 31 is fixedly mounted on the waist belt, the waist belt and the skeleton system 1 are connected by a protective sleeve 32, the protective sleeve 32 houses the wires and air tubes; the skeleton system 1 is configured as a mesh or cheese-like hollow structure; the air tubes and wires are spirally distributed in the hollow structure of the skeleton system 1; the protective sleeve is provided with an elastic fixing strap 4.

[0039] A protective sleeve connects the controller to the frame system. The wires and branch pipes connecting the controller and the frame system are housed within the protective sleeve, providing neat protection for the wires and branch pipes. The protective sleeve is equipped with an elastic strap with Velcro for securing it to the side of the thigh.

[0040] Preferably, the connection point between the protective sleeve and the skeleton system is located at the horizontal end of the T-shaped structure of the lower leg skeleton, near the outer side of the lower leg. In the actual application scenario of the massager provided by the present invention, the skeleton system is placed on the lower leg structure, and the protective sleeve needs to extend from the lower leg to the waist. When the connection point between the protective sleeve and the skeleton system is located at the horizontal end of the T-shaped structure of the lower leg skeleton, near the outer side of the lower leg, the protective sleeve is located on the outer side of the thigh when worn, which will not obstruct or affect the bending of the leg, ensuring smooth movement of the user's body.

[0041] In some preferred embodiments, the controller 31 is provided with a control chip; the surface of the controller 31 is provided with buttons and an LCD screen; the controller 31 is provided with a battery mounting base and a high-pressure air source; the controller 31 is provided with an external power supply interface and an external air source interface.

[0042] In some preferred embodiments, the high-pressure gas source is filled with an inert gas such as helium.

[0043] Working Principle: This invention provides a wearable pneumatic bionic lower limb massager for promoting blood circulation in the legs of those who stand for long periods, especially for preventative massage of varicose veins. In use, the belt is fastened around the waist. The skeletal frame is adjusted to a suitable length using the telescopic structure of the anterior and lateral calf skeletal frames. The anterior calf skeletal frame system is worn on the anterior edge of the calf via elastic straps. The upper and lower fixing straps are wrapped around the upper and lower ends of the calf, respectively. The tightness of the elastic straps is adjusted and secured with Velcro. The damping shafts connecting the lateral calf skeletal frame to the frame system, as well as the damping shafts at the middle and lower ends of the lateral calf skeletal frame, are moved to bring the posterior lateral calf skeletal frame as close as possible to or against the posterior lateral calf contour. The upper and middle section of the elastic strap is placed between the massage head and the calf, passing through the inner guide groove of the lateral calf skeletal frame, and wrapped around the upper and middle section of the calf. The tightness is adjusted and secured with Velcro. The massage head is screwed onto the mounting base. Before installation, the mounting base is slid in the mounting groove to determine the desired installation position. The second pressure sensor is secured to the bottom of the heel with an elastic strap. Secure the protective sleeve to the outside of the thigh using elastic straps. Install a high-pressure gas cylinder inside the belt controller or connect to an external gas source if necessary. Alternatively, connect to an external power source as needed.

[0044] Press the power button to start the controller. The control chip stores the program for the massage mode. Input the command to the control chip through the button to execute the corresponding working mode program. The display screen can show relevant information such as working mode, battery level, and air supply pressure.

[0045] Upon startup, the control chip sends a command to open the valve. High-pressure gas from the cylinder or external gas source enters the fourth section of each massage unit via the main supply pipe and branch pipes. The bellows inflates, and the elastic 3D fabric covering the massage unit allows the fourth section to bend towards the skin as preset. When the first pressure sensor on the first section touches the skin and the pressure signal reaches the preset value, inflation stops, and the fourth section remains inflated throughout use, ensuring the massage unit is in close contact with the skin. After use, press and hold the power button to turn off the power. Before shutting down, the control chip sends a command to open the third exhaust valve to expel the gas from the fourth section of the massage unit, restoring the massage unit to its initial state.

[0046] The work modes include: I. Timed Mode: After selecting the timed mode, the control chip executes the timed mode program. The control chip sends a command to open the valves, allowing high-pressure gas from the gas cylinder or external gas source to enter the second and third sections of the massage unit through the main gas supply pipe and branch pipes. The bellows inflates, and the 3D fabric layer outside the massage unit allows the second and third sections to bend in a preset direction, performing a fan-shaped kneading massage on the calf muscles. The first pressure sensor on the massage head monitors the pressure in real time during the massage. The pressure sensor transmits the pressure data to the control chip via wires, which serves as a signal to adjust the massage intensity. Furthermore, when the pressure signal drops below a threshold, the control chip sends a command to open the first and second exhaust valves to expel the gas from the massage unit. The second and third sections of the massage unit return to their initial state, completing one massage action. All massage units cycle from bottom to top, repeatedly pressing the target area of ​​the user's calf. The timed mode is mainly for people who sit for long periods, as their calf muscles are constantly relaxed. Massaging the muscles according to the preset time promotes venous blood return. For those who stand for long periods, the massage head will pre-start with one press when the timer ends in this mode to remind the user to begin the massage. The second pressure sensor detects the pressure level and determines which lower limb is relaxed, then massages that side first. Each massage session can be set between 1 and 3 minutes.

[0047] Rest Mode: Rest mode is primarily designed for those who stand for long periods, such as medical staff, police officers on duty, teachers, and various front desk service personnel. Before use, press the button to select rest mode. The control chip executes the rest mode program. The second pressure sensor on the user's sole senses the pressure to determine whether one or both lower limbs are in a state of muscle tension or relaxation. When the control chip receives the pressure from the second pressure sensor and determines that one or both lower limbs are in a rest state, it issues a command to open the valves of the main air supply pipe and branch pipes to inflate the massage head and massage that side of the calf. When a rest state is determined, the control chip will delay for about 2 seconds before starting the massage program to reduce the probability of misjudgment due to walking or temporary changes in posture. When the control chip determines that the muscles have returned to a state of tension, the massage process stops. After one side is massaged, the other massage head will pre-press once to remind the user to switch limbs. If the user does not respond to the pre-press, the program will still pre-press once again after a certain period of time to remind the user to start the massage, preventing the user from forgetting to use it for a long time. Each massage time can be set to 1-3 minutes.

Claims

1. A wearable pneumatic bionic lower limb massager, characterized in that, include: Skeletal system (1), the skeletal system (1) includes the anterior lower leg skeleton (11) and the lateral lower leg skeleton (12). Several massage parts (2), the massage parts (2) are configured as finger-like strip structures, the root of the massage parts (2) is connected to the skeleton system (1), and the side of the massage parts (2) contacts the human leg muscles; A control system (3) is connected to the massage part (2) and controls the massage part (2) to extend and bend. The lower leg anterior frame (11) is T-shaped in general. The lower leg anterior frame (11) is used to be placed on the front of the human lower leg. The lower leg anterior frame (11) is set to adapt to the arc-shaped bending structure of the human lower leg. The lower leg lateral frame (12) is C-shaped in general. The lower leg lateral frame (12) extends from the outer end of the horizontal section of the T-shaped structure of the lower leg anterior frame (11) and then extends downward with a certain arc. The connection between the outer lower leg frame (12) and the front lower leg frame (11) is provided with a damping pivot (13) connection structure; the outer lower leg frame (12) is provided with a damping pivot (13) connection structure inside; the outer lower leg frame (12) is provided with an elastic fixing band (4) on the side; the front lower leg frame (11) is provided with an elastic fixing band (4) on the outer edge. The massage part (2) is located on the inner edge of the vertical segment of the T-shaped structure of the anterior calf frame (11); the side of the massage part (2) connected to the anterior calf frame (11) is close to the inner calf muscle; the massage part (2) is located on the posterolateral edge of the lateral calf frame (12); the side of the massage part (2) connected to the lateral calf frame (12) is close to the lateral calf muscle. The connection between the massage part (2) and the skeleton system (1) is a fixed connection with a movable position. The skeleton system (1) is provided with a fixed groove (51) with a vertically extending length. A fixed seat (52) is slidably disposed in the fixed groove (51). The fixed seat (52) includes a threaded section. A connecting seat (53) is provided at the root of the massage part (2). The connecting seat (53) extends into the fixed groove (51) and is connected to the threaded section of the fixed seat (52). The massage unit (2) includes a massage head (21) and a bellows (22). The massage head (21) is disposed at the end of the massage unit (2). Several sections of bellows (22) are disposed between the massage head (21) and the connecting seat (53). Each section of bellows (22) is provided with an independent air pressure sensor (23) and an exhaust valve (24) at its end. The massage head (21) is provided with a first pressure sensor (61) on its inner side. The massage unit (2) also includes a 3D fabric layer (25). The 3D fabric layer (25) is disposed to wrap the massage head (21) and the bellows (22). The root of the 3D fabric layer (25) is fixedly connected to the fixing seat (52). The working area of ​​the massage head is covered with a removable lightweight shell (7) to maintain the normal outer contour of the leg and prevent the trouser fabric from affecting the movement of the massage head. The working area of ​​the massage head is provided with an elastic band (8) that originates from the root position of the massage head located on the inner side of the anterior calf frame, passes through the guide groove located at the root position of the massage part on the inner side of the lateral calf frame, and is fixed to the outer side of the anterior calf frame.

2. The wearable pneumatic bionic lower limb massager according to claim 1, characterized in that, A second pressure sensor (62) is connected below the skeleton system (1); an elastic fixing strap (4) is provided on the connecting line between the skeleton system (1) and the second pressure sensor (62).

3. The wearable pneumatic bionic lower limb massager according to claim 2, characterized in that, The control system (3) includes a controller (31), which is connected to the massage unit (2) via an air tube. The air tube is configured as a branch air tube (33) within the skeleton system (1), which is independently connected to each of the corrugated tubes (22). The controller (31) is connected to each sensor via a wire.

4. The wearable pneumatic bionic lower limb massager according to claim 3, characterized in that, It also includes a waist belt, the controller (31) is fixedly mounted on the waist belt, the waist belt and the skeleton system (1) are connected by a protective sleeve (32), the protective sleeve (32) contains the wires and air tubes; the skeleton system (1) is set as a grid or cheese-like hollow structure; the air tubes and wires are spirally distributed in the hollow structure of the skeleton system (1); the protective sleeve (32) is provided with an elastic fixing band (4).

5. The wearable pneumatic bionic lower limb massager according to claim 4, characterized in that, The controller (31) is equipped with a control chip; the controller (31) is equipped with buttons and an LCD screen; the controller (31) is equipped with a battery mounting base and a high-pressure air source; the controller (31) is equipped with an external power supply interface and an external air source interface.

Images