A working method of a self-air-supply type artificial muscle wearable auxiliary device

Abstract

The application provides a working method of a self-air-supply type artificial muscle wearable auxiliary device, which comprises a flexible artificial muscle mechanism, a leg "electric-gas" path control mechanism and a foot energy supply mechanism connected in sequence through a hose. The application uses the hose as a connecting pipeline of the flexible artificial muscle mechanism, the leg "electric-gas" path control mechanism and the foot energy supply mechanism, and the shoe pad of the foot energy supply mechanism and the flexible artificial muscle mechanism of the driving device are also flexible devices, so that the overall device has good flexibility, and the coordination and safety of human-computer interaction are ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a working method of a wearable assistive device based on a self-pneumatic artificial muscle. Background Technology

[0002] With the increasing aging of my country's population and the significant increase in the number of patients with movement disorders, the importance of developing intelligent motion-assistive devices is becoming increasingly prominent. Currently, most exoskeleton devices use a large number of rigid components and are mainly driven by motors, pneumatics, or hydraulics, which greatly reduces the compliance and safety of human-computer interaction.

[0003] Currently, exoskeleton assistive devices have the following problems:

[0004] Existing exoskeleton assistive devices mostly use the elasticity of springs for power, making the entire device too heavy and inconvenient to use.

[0005] Existing pneumatic flexible exoskeleton assistive devices require power supply devices such as air pumps or air compressors, which have disadvantages such as large weight, high noise, and difficulty in carrying, greatly limiting the flexibility and portability of the assistive devices. At the same time, existing pneumatic flexible exoskeleton assistive devices require more power supply devices such as air pumps or air compressors. Furthermore, existing assistive devices cannot be applied to multiple parts of the human body. Summary of the Invention

[0006] To address the shortcomings of the aforementioned technical solutions, the present invention aims to provide a working method based on a self-pneumatic wearable artificial muscle assistive device.

[0007] The objective of this invention is achieved through the following technical solution.

[0008] A working method for a wearable assistive device based on a self-supplying artificial muscle, wherein the wearable assistive device based on a self-supplying artificial muscle includes a flexible artificial muscle mechanism, a leg "electric-pneumatic" circuit control mechanism, and a foot power supply mechanism connected in sequence via hoses;

[0009] The foot power supply mechanism is used on the sole of the foot and includes an insole and an air bladder. The air bladder is located inside the insole at the heel. A first external interface connected to the air bladder is opened at the rear end of the insole. The first external interface is connected to the leg "electric-pneumatic" circuit control mechanism through the hose, so as to realize the connection between the foot power supply mechanism and the leg "electric-pneumatic" circuit control mechanism.

[0010] The leg “electric-pneumatic” circuit control mechanism includes a first binding strap and a control box. The first binding strap is fixed to the control box. Multiple second external interfaces are provided on the control box. One of them is connected to the flexible artificial muscle mechanism through the hose, and the other is connected to the foot power supply mechanism through the hose, so that the leg “electric-pneumatic” circuit control mechanism is connected to the flexible artificial muscle mechanism and the foot power supply mechanism respectively.

[0011] The flexible artificial muscle mechanism includes a second binding strap and an array of artificial muscle airbags. The second binding strap is used to fix the lower leg, thigh, knee joint or waist and abdomen. The array of artificial muscle airbags is located inside the second binding strap. Two third external interfaces are opened on the array of artificial muscle airbags. The two third external interfaces are respectively connected to the leg "electric-pneumatic" circuit control mechanism through the hose, so as to realize the connection between the flexible artificial muscle mechanism and the leg "electric-pneumatic" circuit control mechanism.

[0012] The working method includes the following steps:

[0013] Step 1: Wear the device in the appropriate position. When a person walks normally, the center of gravity of the person changes continuously with the adjustment of the gait. The gravitational potential energy generated by stepping is loaded onto the foot power supply mechanism, changing the volume of the air bladder of the foot power supply mechanism. The gas is transmitted through the hose to the leg "electric-pneumatic" circuit control mechanism, and then through the three three-way valves in the air passage of the leg "electric-pneumatic" circuit control mechanism to the first one-way valve and the second one-way valve in different directions. After passing through the first one-way valve, it is transmitted to the first air pressure sensor and the flexible artificial muscle mechanism. After passing through the second one-way valve, it is connected to the outside world. The gas transmitted to the flexible artificial muscle mechanism continues to return to the leg "electric-pneumatic" circuit control mechanism and is connected to the electromagnetic switch valve and the second air pressure sensor through the three-way valve II. At this time, the electromagnetic switch valve is in the closed state, and the entire device reaches a gas-sealed space, that is, the flexible artificial muscle mechanism begins to generate pressure.

[0014] Step 2: When the foot is raised, the pressure in the gas space remains unchanged due to the restriction of the first one-way valve. Outside air enters through the second one-way valve and is injected into the foot power supply mechanism to replenish the gas in the air bladder of the foot power supply mechanism. This process is repeated until the air pressure inside the flexible artificial muscle mechanism reaches the air pressure limit value, that is, a certain output force effect is achieved. At the same time, the data collected by the second air pressure sensor causes the microcontroller control unit to control the electromagnetic switch valve to open, complete the partial depressurization, and stabilize the air pressure inside the flexible artificial muscle mechanism.

[0015] Step 3: The microcontroller control unit is connected to the host computer system through a communication module. The host computer can adjust the air pressure limit value, thereby realizing the air pressure control of the entire device.

[0016] In the above technical solution, a single-chip microcomputer control unit, an electromagnetic switch valve, three three-way valves and two one-way guide valves are provided inside the control box;

[0017] Multiple second external interfaces are designated as Second External Interface I, Second External Interface II, Second External Interface III, Second External Interface IV, and Second External Interface V. Three three-way valves are designated as Three-way Valve I, Three-way Valve II, and Three-way Valve III. Two one-way guide valves are designated as First One-way Guide Valve and Second One-way Guide Valve, with the first and second one-way guide valves operating in opposite directions. Second External Interface I is connected to Three-way Valve I via a hose for supplying air to the array of artificial muscle airbags on the flexible artificial mechanism. The first outlet of Three-way Valve I is connected to the first one-way guide valve, and the second outlet of Three-way Valve I is connected to a first pressure sensor integrated into a microcontroller control unit for monitoring the air pressure at the air inlet of the array of artificial muscle airbags on the flexible artificial mechanism. Interface IV is connected to the three-way valve II via a hose. The first outlet of the three-way valve II is connected to a second pressure sensor integrated on the microcontroller control unit to monitor the air pressure at the outlet of the array-type artificial muscle airbag. The second outlet of the three-way valve II is connected to one end of a solenoid switch valve, and the other end of the solenoid switch valve is connected to the second external interface III for depressurization. The second external interface V is connected to the three-way valve III via a hose. The first and second outlets of the three-way valve III are respectively connected to a first one-way valve and a second one-way valve. The first one-way valve is used to transport gas to the flexible artificial muscle mechanism, and the outlet of the second one-way valve is connected to the second external interface II for gas replenishment and shape recovery of the airbag of the foot power supply mechanism.

[0018] In the above technical solution, the array-type artificial muscle airbag includes a common chamber airbag and multiple artificial muscle airbags evenly distributed around and connected to the common chamber airbag. The common chamber airbag and the artificial muscle airbags are connected by a connecting tube.

[0019] The two third external interfaces are third external interface I and third external interface II. A connecting pipe is provided at both the upper and lower ends of the common chamber airbag. The connecting pipe located at the upper end is connected to third external interface I, and the connecting pipe located at the lower end is connected to third external interface II.

[0020] In the above technical solution, a partition plate is installed inside the control box. The microcontroller control unit and the electromagnetic switch valve are located on one side of the partition plate, and the three-way valve and the one-way guide valve are located on the other side of the partition plate, so as to separate the pneumatic control and the electric control, avoiding the complex layout of wires and air pipes.

[0021] In the above technical solution, a packaging layer is installed on the inner wall of the second binding strap, and the array-type artificial muscle airbags are embedded inside the packaging layer and fixed by negative pressure operation.

[0022] In the above technical solution, a heat dissipation vent is provided on the control box.

[0023] In the above technical solution, the heat dissipation port and the second external interface are located on the rear cover of the control box, opposite to the first binding strap.

[0024] In the above technical solution, one end of the first binding strap is bonded to one side wall of the control box, and the other end of the first binding strap is bonded to the other side wall of the control box, thereby fixing the control box to the lower part of the calf through the first binding strap.

[0025] In the above technical solution, both the first binding strap and the second binding strap are made of elastic material.

[0026] In the above technical solution, the microcontroller control unit includes a main control chip, a first air pressure sensor, a second air pressure sensor, and a communication module. The main control chip is electrically connected to the first air pressure sensor and the second air pressure sensor, respectively, and the main control chip communicates with the host computer through the communication module.

[0027] The advantages and beneficial effects of this invention are as follows:

[0028] 1. This invention uses a flexible tube as a connecting pipe for the flexible artificial muscle mechanism, the leg "electric-pneumatic" circuit control mechanism, and the foot power supply mechanism. At the same time, the insole, which serves as the foot power supply mechanism, and the flexible artificial muscle mechanism, which serves as the driving device, are also flexible devices, which makes the whole device have good flexibility and ensures the coordination and safety of human-computer interaction.

[0029] 2. This invention eliminates the need for traditional pneumatic artificial muscle devices that require power supply devices such as air pumps and air compressors. It utilizes the mechanical energy generated during human walking to pressurize the array of artificial muscle airbags through the airbags on the insole, thus achieving the function of waste energy collection.

[0030] 3. The microcontroller control unit of the present invention includes a main control chip, a first air pressure sensor, a second air pressure sensor, and a communication module. The main control chip can communicate with a host computer (e.g., a mobile phone, a smart watch, or other smart products) through the communication module to establish signal transmission and realize the functions of air pressure monitoring, air pressure regulation, and on / off switching of the entire device.

[0031] 4. The flexible artificial muscle mechanism in this invention can be adjusted in position according to the user's different needs such as exercise assistance, sports protection, and body shaping, and has multiple functions. Thus, the flexible artificial muscle mechanism can simulate the front and back muscles or lateral muscles of the human thigh, calf, knee joint, waist and abdomen, and can achieve the same effect as the natural muscles of the human body, and has a high degree of flexibility and coordination.

[0032] 5. The flexible artificial muscle mechanism, leg "electric-pneumatic" circuit control mechanism, and foot power supply mechanism included in this invention are all connected by flexible hoses, which are independent and easy to disassemble, thus having the advantage of strong portability. At the same time, the specifications and functions of the control system can be added to realize the expansion and upgrading of the entire device. Due to its easy disassembly and strong independence, it can be expanded and multiple muscle mechanisms can be added for simultaneous operation.

[0033] 6. Because this invention does not have a pump, it is lightweight and produces less noise. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the overall structure of the foot power supply mechanism of the present invention;

[0036] Figure 3 This is a schematic diagram of the overall structure of the leg "electric-pneumatic" circuit control mechanism of the present invention;

[0037] Figure 4 This is a schematic diagram of the internal structure of the leg "electric-pneumatic" circuit control mechanism of the present invention;

[0038] Figure 5 This is a schematic diagram of the overall structure of the flexible artificial muscle mechanism of the present invention;

[0039] Figure 6 A schematic diagram of an array-type artificial muscle airbag;

[0040] Figure 7 This is a schematic diagram of the control principle of the device of the present invention.

[0041] in,

[0042] 1: Flexible artificial muscle mechanism; 1-1: Second binding strap; 1-2: Common chamber airbag; 1-3: Artificial muscle airbag; 1-4: Third external interface I; 1-5: Third external interface II; 2: Leg "electric-pneumatic" circuit control mechanism; 2-1: First binding strap; 2-2: Control box; 2-3: Heat dissipation vent; 2-4: Second external interface I; 2-5: Second external interface II; 2-6: Second external interface III; 2-7: Second external interface IV; 2-8: Second external interface V; 3: Foot power supply mechanism; 3-1: Insole; 3-2: Airbag; 3-3: First external interface; 4: Microcontroller control unit; 5: Electromagnetic switch valve; 6: Three-way valve I; 7: Three-way valve II; 8: Three-way valve III; 9: First one-way guide valve; 10: Second one-way guide valve; 11: Hose.

[0043] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation

[0044] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0045] Example 1

[0046] like Figure 1-7 As shown, a wearable assistive device based on a self-supplying artificial muscle includes a flexible artificial muscle mechanism 1, a leg "electric-pneumatic" circuit control mechanism 2, and a foot power supply mechanism 3. The flexible artificial muscle mechanism 1, the leg "electric-pneumatic" circuit control mechanism 2, and the foot power supply mechanism 3 are connected in sequence through a hose 11.

[0047] The foot power supply mechanism 3 is used on the sole of the foot and includes an insole 3-1 and an air bladder 3-2. The air bladder 3-2 is located inside the insole 3-1 and is integrally formed with the insole 3-1. It is located at the heel. A first external interface 3-3 is opened at the rear end of the insole 3-1. The first external interface 3-3 is connected to the leg "electric-pneumatic" circuit control mechanism 2 through the hose 11, so as to realize the connection between the foot power supply mechanism 3 and the leg "electric-pneumatic" circuit control mechanism 2.

[0048] The leg "electric-pneumatic" circuit control mechanism 2 includes a first binding strap 2-1 and a control box 2-2. The first binding strap 2-1 is arranged around half of the control box 2-2. Specifically, one end of the first binding strap 2-1 is bonded to one side wall of the control box 2-2, and the other end of the first binding strap 2-1 is bonded to the other side wall of the control box 2-2. The control box 2-2 is fixed to the lower part of the lower leg by the first binding strap 2-1. The control box 2-2 has a heat dissipation vent 2-3 and multiple second external interfaces. The heat dissipation vent 2-3 and the second external interfaces are located on the rear cover of the control box 2-2 (the rear cover of the control box 2-2 is threadedly connected to the body of the control box 2-2) and opposite to the first binding strap 2-1. Another of the multiple second external interfaces is connected to the foot power supply mechanism 3 through the hose 11, so that the leg "electric-pneumatic" circuit control mechanism 2 is connected to the flexible artificial muscle mechanism 1 and the foot power supply mechanism 3 respectively.

[0049] The flexible artificial muscle mechanism 1 includes a ring-shaped second binding strap 1-1 and an array of artificial muscle airbags. The second binding strap 1-1 is fixed to the lower leg, thigh, knee joint, or waist and abdomen according to different usage requirements. A packaging layer is installed on the inner side wall of the second binding strap 1-1. The array of artificial muscle airbags is embedded in the packaging layer and fixed by negative pressure operation. Two third external interfaces are opened on the array of artificial muscle airbags. The third external interfaces are connected to the outside. The two third external interfaces are respectively connected to the leg "electric-pneumatic" circuit control mechanism 2 through the hose 11, realizing the connection between the flexible artificial muscle mechanism 1 and the leg "electric-pneumatic" circuit control mechanism 2.

[0050] The control box 2-2 houses a microcontroller control unit 4, an electromagnetic switch valve 5, three three-way valves, and two one-way valves. A partition plate is installed inside the control box 2-2, with the microcontroller control unit 4 and electromagnetic switch valve 5 located on one side of the partition plate, and the three-way valves and one-way valves on the other side. This separates pneumatic and electric control, avoiding complex wiring and air pipe layouts. Specifically, the circuit path of the leg "electric-pneumatic" control mechanism 2 includes the microcontroller control unit 4 and electromagnetic switch valve 5, while the air path path includes three three-way valves and two one-way valves.

[0051] Multiple second external interfaces are designated as second external interface I2-4, second external interface II2-5, second external interface III2-6, second external interface IV2-7, and second external interface V2-8. Three three-way valves are designated as three-way valve I6, three-way valve II7, and three-way valve III8. Two one-way valves are designated as first one-way valve 9 and second one-way valve 10, with the first one-way valve 9 (forward) and the second one-way valve 10 operating in opposite directions. Second external interface I2-4 is connected to three-way valve I6 via a hose for supplying air to the array of artificial muscle airbags on the flexible artificial mechanism. The first outlet of three-way valve I6 is connected to the first one-way valve 9, and the second outlet of three-way valve I6 is connected to a first pressure sensor integrated into the microcontroller control unit 4. This sensor monitors the air pressure at the inlet of the array of artificial muscle airbags on the flexible artificial mechanism, reducing the number of airway channels and completing the pre-supply monitoring work. This provides a reference for subsequent control and simplifies the control program setup and electronic component layout. The second external interface IV2-7 is connected to the three-way valve II7 via a hose. The first outlet of the three-way valve II7 is connected to the second air pressure sensor integrated on the microcontroller control unit 4 to monitor the air pressure value at the outlet of the array-type artificial muscle airbag. The second outlet of the three-way valve II7 is connected to one end of the electromagnetic switch valve 5, and the other end of the electromagnetic switch valve 5 is connected to the second external interface III2-6 for depressurization. This reduces the number of air passages and completes the monitoring work after air supply, providing a reference for subsequent control, simplifying the setting of the control program and the layout of electronic devices, while ensuring the portability and detachability of the system. The second external interface V2-8 is connected to the three-way valve III via a hose. The first outlet and the second outlet of the three-way valve III are respectively connected to the first one-way valve 9 and the second one-way valve 10. The first one-way valve 9 is used to transport gas to the flexible artificial muscle mechanism 1. The outlet of the second one-way valve 10 is connected to the second external interface II2-5 for gas replenishment and shape recovery of the air bladder 3-2 of the foot power supply mechanism 3. This reduces the gas channels of the foot power supply mechanism 3, simplifies the structural design and air pipe wiring, makes it easy to wear, and improves the comfort of wearing the device.

[0052] The array-type artificial muscle airbag includes a common chamber airbag 1-2 and four artificial muscle airbags 1-3 evenly distributed around the common chamber airbag 1-2. The common chamber airbag 1-2 and the artificial muscle airbags 1-3 are connected by connecting pipes. A connecting pipe is provided at both the upper and lower ends of the common chamber airbag 1-2. The two third external interfaces are third external interface I1-4 and third external interface II1-5. The connecting pipe located at the upper end connects to the third external interface I1-4, and the connecting pipe located at the lower end connects to the third external interface II1-5. The common chamber airbag 1-2 connects the artificial muscle airbags 1-3 to the external environment, reducing the number of air passages and simplifying the overall structure of the flexible artificial muscle mechanism 1. Compared with large-area hollow airbags, it can effectively improve in terms of manufacturing and airtightness.

[0053] The second external interface I2-4 is connected to the third external interface II1-5 via a hose 11 to pressurize the flexible artificial muscle mechanism 1. The second external interface IV2-7 is connected to the third external interface I1-4 via a hose 11 to depressurize the flexible artificial muscle mechanism 1. This reduces the number of air passages, simplifies its layout, and allows the flexible artificial muscle mechanism 1 to be placed in different positions according to needs such as assistance, protection, and shaping, such as behind the thigh, behind the calf, on the side of the thigh, on the side of the calf, at the knee joint, or in the waist and abdomen. This ensures the portability and detachability of the system and provides the possibility for future expansion and optimization of the overall device.

[0054] Example 2

[0055] like Figure 1-7 As shown, based on Embodiment 1, the power supply voltage of the single-chip microcomputer control unit 4 and the electromagnetic switch valve 5 is both below 5V, and they can be powered by a button battery. The single-chip microcomputer control unit 4 includes a main control chip (model STM32F103C8T6), a first air pressure sensor, a second air pressure sensor (both models XGZP6847A001MPG), and a communication module (Bluetooth module) (model ATK-BLE02). The main control chip is electrically connected to the first air pressure sensor and the second air pressure sensor respectively, and the main control chip communicates with the host computer through the communication module.

[0056] like Figure 7 This is a control principle diagram of the device of the present invention.

[0057] Example 3

[0058] like Figure 1-7As shown, based on Embodiment 1 and Embodiment 2, the first binding strap 2-1 and the second binding strap 1-1 are made of elastic material; the single-chip microcomputer control unit 4 is threadedly connected to the inner side of the front cover of the control box 2-2, and the electromagnetic switch valve 5, the three-way valve and the one-way guide valve are all connected to the inside of the control box 2-2 through plastic clamps.

[0059] Example 4

[0060] A method of operating the apparatus provided in Embodiments 1-3 includes the following steps:

[0061] Step 1: Wear the device of the present invention on the corresponding leg position. When a person walks normally, the center of gravity of the person changes continuously with the adjustment of the gait. The gravitational potential energy generated by stepping is loaded onto the foot power supply mechanism 3, changing the volume of the airbag 3-2 of the foot power supply mechanism 3. A certain amount of gas is transmitted through the hose to the leg "electric-pneumatic" circuit control mechanism 2, and then through the air passage in the leg "electric-pneumatic" circuit control mechanism 2 to the first one-way valve 9 and the second one-way valve 10 in different directions. After passing through the first one-way valve 9, it is transmitted to the first air pressure sensor and the flexible artificial muscle mechanism 1. After passing through the second one-way valve 10, it is connected to the outside world. The gas transmitted to the flexible artificial muscle mechanism 1 continues to return to the leg "electric-pneumatic" circuit control mechanism 2 and is connected to the electromagnetic switch valve 5 and the second air pressure sensor through the three-way valve II7. At this time, the electromagnetic switch valve 5 is in the closed state, and the entire device reaches a gas-sealed space, that is, the flexible artificial muscle mechanism 1 begins to generate pressure.

[0062] Step 2: When the foot is raised, the pressure in the gas space remains unchanged due to the restriction of the first one-way valve 9. Outside air enters through the second one-way valve 10 and is injected into the foot power supply mechanism 3, thus replenishing the gas in the airbag 3-2 of the foot power supply mechanism 3. This process is repeated until the air pressure inside the flexible artificial muscle mechanism 1 reaches the air pressure limit value, that is, a certain output force effect is achieved. At the same time, the data collected by the second air pressure sensor causes the single-chip microcomputer control unit 4 to control the electromagnetic switch valve 5 to conduct, completing partial depressurization and stabilizing the air pressure inside the flexible artificial muscle mechanism 1.

[0063] Step 3: The microcontroller control unit 4 is connected to the host computer system through a communication module. The host computer can adjust the air pressure limit value, thereby realizing the air pressure control of the entire device. At the same time, this method uses two air pressure sensors to detect the air pressure at the inlet and outlet (i.e., the two third external interfaces) of the flexible artificial muscle mechanism 1, which can determine whether the entire device is damaged or leaking, thereby improving the safety and controllability of the entire device.

[0064] It should be noted that the first one-way valve 9 and the second one-way valve 10 have different air intake and exhaust effects. The first one-way valve 9 transmits air forward to the flexible artificial muscle mechanism 1, while the second one-way valve 10 connects to the outside. Due to the special nature of the valve, almost no air from the foot power supply mechanism 3 reaches the outside. It is mainly used to replenish the air in the foot airbag 3-2 when the cavity of the foot airbag 3-2 becomes smaller during the process of lifting the foot. This design avoids redundancy in the number of external interfaces of the foot cavity structure. Only a single external interface (the first external interface 3-3) needs to be set up to perform different functions at different "times".

[0065] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0066] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0067] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. A wearable assistive device based on a self-puffing artificial muscle, characterized in that, The wearable assistive device based on self-supplying artificial muscle includes a flexible artificial muscle mechanism, a leg "electric-pneumatic" circuit control mechanism, and a foot power supply mechanism connected in sequence via hoses. The foot power supply mechanism is used on the sole of the foot and includes an insole and an air bladder. The air bladder is located inside the insole at the heel. A first external interface connected to the air bladder is opened at the rear end of the insole. The first external interface is connected to the leg "electric-pneumatic" circuit control mechanism through a hose, so as to realize the connection between the foot power supply mechanism and the leg "electric-pneumatic" circuit control mechanism. The leg "electric-pneumatic" circuit control mechanism includes a first binding strap and a control box. The first binding strap is fixed to the control box. The control box has a second external interface I, a second external interface II, a second external interface III, a second external interface IV, and a second external interface V. The second external interface V is connected to the first external interface of the foot power supply mechanism through a hose, so that the leg "electric-pneumatic" circuit control mechanism can be connected to the flexible artificial muscle mechanism and the foot power supply mechanism respectively. The flexible artificial muscle mechanism includes a second binding strap and an array of artificial muscle airbags. The second binding strap is used to fix the lower leg, thigh, knee joint or waist and abdomen. The array of artificial muscle airbags is located inside the second binding strap. The array of artificial muscle airbags includes a common chamber airbag and four artificial muscle airbags evenly distributed around and connected to the common chamber airbag. The common chamber airbag and the artificial muscle airbags are connected by a connecting tube. Two third external interfaces are provided on the array-type artificial muscle airbag, namely third external interface I and third external interface II. A connecting pipe is provided at both the upper and lower ends of the common chamber airbag. The connecting pipe located at the upper end is connected to third external interface I, and the connecting pipe located at the lower end is connected to third external interface II. Third external interface I is connected to second external interface IV through a hose, and third external interface II is connected to second external interface I through a hose, so as to realize the connection between the flexible artificial muscle mechanism and the leg "electric-pneumatic" circuit control mechanism. The control box contains a microcontroller control unit, an electromagnetic switch valve, three three-way valves, and two one-way valves. The three three-way valves are valve I, valve II, and valve III. The two one-way valves are a first one-way valve and a second one-way valve, with the first and second one-way valves operating in opposite directions. The second external interface I is connected to the three-way valve I via a hose for supplying air to the array of artificial muscle airbags on the flexible artificial mechanism. The first outlet of the three-way valve I is connected to the first one-way valve, and the second outlet of the three-way valve I is connected to a first pressure sensor integrated into the microcontroller control unit for monitoring the air pressure at the air inlet of the array of artificial muscle airbags on the flexible artificial mechanism. The second external interface IV... The three-way valve II is connected via a hose. The first outlet of the three-way valve II is connected to a second pressure sensor integrated on the microcontroller control unit to monitor the air pressure at the outlet of the array-type artificial muscle airbag. The second outlet of the three-way valve II is connected to one end of a solenoid switch valve, and the other end of the solenoid switch valve is connected to a second external interface III for depressurization. The second external interface V is connected to the three-way valve III via a hose. The first outlet and the second outlet of the three-way valve III are respectively connected to a first one-way valve and a second one-way valve. The first one-way valve is used to transport gas to the flexible artificial muscle mechanism, and the outlet of the second one-way valve is connected to the second external interface II for gas replenishment and shape recovery of the airbag of the foot power supply mechanism.

2. The wearable assistive device based on a self-puffing artificial muscle according to claim 1, characterized in that, The control box is equipped with a partition plate. The microcontroller control unit and the electromagnetic switch valve are located on one side of the partition plate, and the three-way valve and the one-way guide valve are located on the other side of the partition plate. This is to separate the pneumatic control from the electric control, thus avoiding the complicated layout of wires and air pipes.

3. The wearable assistive device based on a self-puffing artificial muscle according to claim 2, characterized in that, A packaging layer is installed on the inner wall of the second binding strap, and the array-type artificial muscle airbags are embedded inside the packaging layer and fixed by negative pressure operation.

4. The wearable assistive device based on a self-puffing artificial muscle according to claim 3, characterized in that, A heat dissipation vent is provided on the control box.

5. A wearable assistive device based on a self-puffing artificial muscle according to claim 4, characterized in that, The heat dissipation vents and all the second external interfaces are located on the rear cover of the control box, opposite to the first binding strap.

6. A wearable assistive device based on a self-puffing artificial muscle according to claim 5, characterized in that, One end of the first binding strap is bonded to one side wall of the control box, and the other end of the first binding strap is bonded to the other side wall of the control box, thereby fixing the control box to the lower part of the calf through the first binding strap.

7. A wearable assistive device based on a self-puffing artificial muscle according to claim 6, characterized in that, Both the first and second binding straps are made of elastic material.

8. A wearable assistive device based on a self-puffing artificial muscle according to claim 7, characterized in that, The microcontroller control unit includes a main control chip, a first air pressure sensor, a second air pressure sensor, and a communication module. The main control chip is electrically connected to the first air pressure sensor and the second air pressure sensor, respectively, and the main control chip communicates with the host computer through the communication module.

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