Physiotherapy robot

Abstract

The present application discloses a physiotherapy robot, which includes a soft manipulator, a variable stiffness layer, hard particles, and a negative pressure driving pump. The variable stiffness layer is arranged on the surface of the soft manipulator, and an inner cavity is also provided in the variable stiffness layer; the hard particles are movably arranged in the inner cavity, and there are gaps between adjacent hard particles; the negative pressure driving pump is communicated with the inner cavity, and the negative pressure driving pump is used to adjust the pressure in the inner cavity; when the negative pressure driving pump forms a negative pressure space in the inner cavity, the variable stiffness layer shrinks, and the variable stiffness layer drives the hard particles in the inner cavity to squeeze each other, thereby increasing the stiffness of the variable stiffness layer. In this embodiment, through the soft manipulator and the variable stiffness layer, not only can the manipulation actions in traditional Chinese medicine acupoint physiotherapy be realized, but also the stiffness of the variable stiffness layer can be adjusted according to the acupoints, reproducing the physiotherapy operation of the human hand, so as to achieve the technical effect that the skin contour facing multiple areas of human acupoints can be adaptively adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of soft robots, and in particular to a physiotherapy robot. Background Art

[0002] With the progress of science and technology and the development of social economy, robots have been widely used in industrial production, logistics services, and military exploration, and have gradually extended to new fields such as medical surgery, assisted rehabilitation, and daily services, becoming an important part of social production activities. With the popularization of robots, the interaction between robots and humans has become increasingly frequent, which puts forward higher requirements for the compliance, environmental adaptability, and human-robot interaction safety of robots. However, rigid robots composed of traditional mechanisms such as motors and linkages have obvious limitations in terms of compliance and safety, making it difficult to meet these complex requirements and restricting the wide application of robots. To overcome the limitations of traditional rigid robots, soft robots have emerged. Different from rigid robots, soft robots are usually made of flexible materials such as silica gel, rubber, and fabric. Soft robots can achieve flexible movement through their own elastic deformation, and have good compliance, adaptability, and safety. Thanks to these characteristics, soft robots can move and operate flexibly in narrow and unstructured spaces, and at the same time provide higher safety guarantees when interacting with humans. Therefore, soft robots have great development prospects in the field of acupoint physiotherapy. Existing physiotherapy robots not only have a single gesture for physiotherapy acupoints, but also have complex mechanisms and insufficient compliance. Therefore, there is an urgent need for a new type of physiotherapy robot to achieve the technical effect of adaptive adjustment to the skin contours of multiple acupoint areas on the human body. Summary of the Invention

[0003] In order to solve the technical problem of how to provide a new type of physiotherapy robot to achieve the effect of adaptive adjustment of its massage strength for multiple acupoint areas on the human body, the present invention provides a physiotherapy robot. By using the principle of bionics, a new type of soft robotic hand is designed, and a variable stiffness layer capable of realizing stiffness change is arranged on the surface of the soft robotic hand to reproduce the physiotherapy operation of the human hand, thereby achieving the technical effect of adaptive adjustment of its strength for multiple acupoint areas on the human body.

[0004] To solve the above technical problems, the following technical solutions are proposed:

[0005] An embodiment of the present invention provides a physiotherapy robot, including:

[0006] A soft robotic hand;

[0007] A variable stiffness layer, the variable stiffness layer is arranged on the surface of the soft robotic hand, and an inner cavity is further provided in the variable stiffness layer;

[0008] Hard particles, the hard particles are movably arranged in the inner cavity, and there are gaps between adjacent hard particles;

[0009] A negative pressure driving pump, the fluid driving pump is communicated with the inner cavity, and the negative pressure driving pump is used to adjust the pressure in the inner cavity;

[0010] Wherein, when the negative pressure driving pump forms a negative pressure space in the inner cavity, the variable stiffness layer drives the hard particles in the inner cavity to squeeze each other.

[0011] In some embodiments, the variable stiffness layer is made of a flexible material. When the negative pressure driving pump forms a negative pressure space in the inner cavity, the variable stiffness layer shrinks under the action of the negative pressure space, and the variable stiffness layer drives the hard particles in the inner cavity to squeeze each other.

[0012] In some embodiments, it further includes a flexible connection layer. The flexible connection layer is arranged in the inner cavity, and the hard particles are evenly laid in the flexible connection layer.

[0013] In some embodiments, at least one layer of the flexible connection layer is arranged in the inner cavity.

[0014] In some embodiments, multiple layers of the flexible connection layer are arranged in the inner cavity, and the hard particles are arranged in a staggered manner between adjacent two layers of the flexible connection layer.

[0015] In some embodiments, both the flexible connection layer and the variable stiffness layer are made of elastic silicone material.

[0016] In some embodiments, the soft robotic hand includes a fluid driving pump, a flexible body, an air chamber and a gas channel. The variable stiffness layer is arranged on the surface of the flexible body. The gas channel is arranged in the flexible body. One end of the gas channel is used to connect the fluid driving pump, and the other end extends along the length direction of the flexible body. A plurality of the air chambers are arranged in the flexible body, and the plurality of air chambers are arranged in sequence along the gas channel. When the fluid driving pump conveys a medium into the air chamber through the gas channel, the flexible body bends towards the side where the variable stiffness layer is arranged.

[0017] In some embodiments, the soft robotic hand further includes a fixing member. Multiple groups of the flexible bodies are arranged on the fixing member, and when the fluid driving pump controls the flexible body to bend, the multiple groups of the flexible bodies all bend towards the fixing member.

[0018] In some embodiments, one end of the gas channel is placed in the fixing member, and the other end of the gas channel is placed in the flexible body.

[0019] In some embodiments, the fluid-driven pump is an air pump.

[0020] In some embodiments, the flexible body is made of elastic silica gel.

[0021] Beneficial effects: The present application discloses a physiotherapy robot, including a soft robotic hand, a variable stiffness layer, hard particles, and a negative pressure-driven pump. The variable stiffness layer is disposed on the surface of the soft robotic hand, and an inner cavity is further provided in the variable stiffness layer; the hard particles are movably disposed in the inner cavity, and there are gaps between adjacent hard particles; the negative pressure-driven pump is communicated with the inner cavity, and the negative pressure-driven pump is used to adjust the pressure in the inner cavity; when the negative pressure-driven pump forms a negative pressure space in the inner cavity, the variable stiffness layer shrinks, and the variable stiffness layer drives the hard particles in the inner cavity to squeeze each other, thereby increasing the stiffness of the variable stiffness layer. In this embodiment, through the soft robotic hand and the variable stiffness layer, not only can the actions of traditional Chinese medicine acupoint physiotherapy (such as massage, pinching, pressing, etc.) be realized, but also the stiffness of the variable stiffness layer can be adjusted according to the acupoints, reproducing the physiotherapy operation of the human hand, so as to achieve the technical effect that the skin contour facing multiple areas of the human body can be adaptively adjusted. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of a physiotherapy robot provided by an embodiment of the present invention;

[0023] Figure 2 is a cross-sectional view of a physiotherapy robot provided by an embodiment of the present invention;

[0024] Figure 3 is an exploded view of a part of the variable stiffness layer provided by an embodiment of the present invention;

[0025] Figure 4 is an exploded view of a part of the variable stiffness layer provided by another embodiment of the present invention;

[0026] Figure 5 is a schematic structural diagram of the hard particles in an approximately fluid state provided by an embodiment of the present invention;

[0027] Figure 6 is a schematic structural diagram of the hard particles in a closely arranged state provided by an embodiment of the present invention;

[0028] Figure 7 is a schematic structural diagram of the flexible body provided by an embodiment of the present invention.

[0029] Description of the Reference Numerals

[0030] 1. Soft robotic hand; 2. Variable stiffness layer; 3. Inner cavity; 4. Hard particles;

[0031] 5. Flexible connection layer; 6. Flexible body; 7. Air chamber; 8. Gas channel;

[0032] 9. Fixing member. Specific implementation manner

[0033] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, and therefore are only examples and cannot be used to limit the protection scope of the present application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0035] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0036] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0037] In the description of the embodiments of this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0038] In the description of the embodiments of this application, the term "a plurality" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0039] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the embodiments of the present application.

[0040] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0041] With the progress of science and technology and the development of social economy, robots have been widely used in industrial production, logistics services, and military exploration, and have gradually extended to new fields such as medical surgery, assisted rehabilitation, and daily services, becoming an important part of social production activities. With the popularization of robots, the interaction between robots and humans has become increasingly frequent, which has put forward higher requirements for the compliance, environmental adaptability, and human-robot interaction safety of robots. However, rigid robots composed of traditional mechanisms such as motors and linkages have obvious limitations in terms of compliance and safety, and it is difficult to meet these complex requirements, restricting the wide application of robots. To overcome the limitations of traditional rigid robots, soft robots have emerged. Different from rigid robots, soft robots are usually made of flexible materials such as silicone, rubber, and fabric. Soft robots can achieve flexible movement through their own elastic deformation, and have good compliance, adaptability, and safety. Thanks to these characteristics, soft robots can move and operate flexibly in narrow and unstructured spaces, and at the same time provide higher safety guarantees when interacting with humans. As an emerging robot technology, the research of soft robots occupies a very important position in the development of the robot industry. According to different driving methods, soft robots mainly include pneumatically driven, hydraulically driven, wire-driven, dielectric elastomer-driven, magnetically driven, and chemically reactive-driven robots.

[0042] Benefiting from the many characteristics of soft robots, soft robots have great development prospects in the field of acupoint physiotherapy. However, existing physiotherapy robots not only have a single gesture for physiotherapy acupoints, but also have complex mechanisms, insufficient flexibility, and poor assembly. Therefore, there is an urgent need for a new type of physiotherapy robot to achieve the technical effect of being able to adaptively adjust to the skin contours of multiple acupoints on the human body.

[0043] To solve the technical problem of how to provide a new type of physiotherapy robot to achieve the effect of being able to adaptively adjust its massage strength for multiple acupoints on the human body, the present invention provides a physiotherapy robot. A new type of soft robotic hand 1 is designed through bionics principles, and a variable stiffness layer 2 capable of achieving stiffness changes is provided on the surface of the soft robotic hand 1 to reproduce the physiotherapy operations of the human hand, thereby achieving the technical effect of being able to adaptively adjust its strength for multiple acupoints on the human body.

[0044] As Figure 1 shown, Figure 1 FIG. is a schematic structural diagram of a physiotherapy robot provided by an embodiment of the present invention. The physiotherapy robot includes a soft robotic hand 1 and a variable stiffness layer 2.

[0045] The soft robotic hand 1 is a robot made of soft materials, which can adapt to various unstructured environments and can achieve a safer interaction experience with humans. In this embodiment, through the soft robotic hand, not only can the actions of traditional Chinese medicine acupoint physiotherapy (such as massage, pinching, pressing, etc.) be realized, but also because the soft robotic hand 1 is a robot made of soft materials, it is safer during the interaction with people.

[0046] The variable stiffness layer 2 is a functional layer with a certain stiffness provided on the surface of the soft robotic hand 1. As is well known, in massage physiotherapy, the stiffness of the surface of the pressing object (i.e., the hardness of the massage tool or contact surface) will significantly affect pressure transmission, tissue response, and treatment effect. For example, the high-stiffness variable stiffness layer 2 has concentrated pressure and strong penetration during massage, and can reach deep fascia or muscles (such as the erector spinae muscle and iliotibial tract); while the low-stiffness variable stiffness layer 2 has dispersed pressure and high comfort during massage, and is suitable for relaxing superficial tissues. Therefore, in massage physiotherapy, it is necessary to dynamically adjust the stiffness of the variable stiffness layer 2 guided by tissue response, combined with the patient's tolerance and treatment goals.

[0047] As Figure 2As shown, in this embodiment, an inner cavity 3 is further provided in the variable stiffness layer 2. Hard particles 4 are arranged in the inner cavity 3. The hard particles 4 are movably arranged in the inner cavity 3, and there are gaps between adjacent hard particles 4. A negative pressure driving pump is further provided outside the variable stiffness layer 2. The negative pressure driving pump is communicated with the inner cavity 3, and the negative pressure driving pump is used to adjust the pressure in the inner cavity 3. It can be understood that in this embodiment, the inner cavity 3 in the variable stiffness layer 2 is a closed space. When the negative pressure driving pump does not adjust the air pressure in the inner cavity 3, the air pressure in the inner cavity 3 is the same as the external air pressure. The hard particles 4 in the inner cavity 3 are in a relatively loose state. At this time, the interaction force between the hard particles 4 in the inner cavity 3 is very small, showing an approximately fluid state with large deformability, and the variable stiffness layer 2 can show good flexibility. When the negative pressure driving pump adjusts the air pressure in the inner cavity 3, a negative pressure space is formed in the inner cavity 3 by the negative pressure driving pump. At this time, an air pressure difference is formed between the air pressure in the inner cavity 3 and the outside. Since the variable stiffness layer 2 is soft, the variable stiffness layer 2 shrinks under the action of the external air pressure at this time. During the shrinkage process of the variable stiffness layer 2, the interaction force between the hard particles 4 in the inner cavity 3 increases as the pressure value decreases. Therefore, the state of the hard particles 4 in the inner cavity 3 changes to a closely arranged state, and further the stiffness of the surface of the variable stiffness layer 2 increases. In this embodiment, through the soft manipulator and the variable stiffness layer 2, not only can the actions (such as massage, pinching, pressing, etc.) in traditional Chinese medicine acupoint physiotherapy be realized, but also the stiffness of the variable stiffness layer 2 can be adjusted according to the acupoints, and the physiotherapy operation of the human hand can be reproduced, so as to achieve the technical effect of adaptive adjustment of the skin contour facing multiple areas of human acupoints.

[0048] In some embodiments, a flexible connection layer 5 is further included. The flexible connection layer 5 is arranged in the inner cavity 3, and the hard particles 4 are evenly laid in the flexible connection layer 5. In this embodiment, through the flexible connection layer 5, the hard particles 4 can be evenly and orderly fixed in the inner cavity 3 in the variable stiffness layer 2 to ensure the uniformity and consistency of the surface stiffness of the variable stiffness layer 2, and further realize the precise force control of the physiotherapy robot.

[0049] As Figures 3 - 4 shown, at least one layer of flexible connection layer 5 is provided in the inner cavity 3, and hard particles 4 are arranged on each layer of flexible connection layer 5.

[0050] As Figure 3As shown, exemplarily, a flexible connection layer 5 is provided in the inner cavity 3. In this embodiment, the hard particles 4 are fixed in the inner cavity 3 through a flexible connection layer 5. When the negative pressure driving pump forms a negative pressure space in the inner cavity 3, the side of the variable stiffness layer 2 away from the soft manipulator contracts towards the soft manipulator, and as the negative pressure in the inner cavity 3 continuously increases, the force with which the side of the variable stiffness layer 2 away from the soft manipulator wraps the flexible connection layer 5 continuously increases, so that the hard particles 4 on the flexible connection layer 5 are fixed by the fixing layer, thereby increasing the stiffness of the variable stiffness layer 2.

[0051] As Figure 4 shown, multiple flexible connection layers 5 are provided in the inner cavity 3, and the hard particles 4 are arranged in a staggered manner between adjacent two flexible connection layers 5. When the negative pressure driving pump forms a negative pressure space in the inner cavity 3, the side of the variable stiffness layer 2 away from the soft manipulator contracts towards the soft manipulator, and as the negative pressure in the inner cavity 3 continuously increases, the hard particles 4 on different flexible connection layers 5 are mutually extruded, so that the loose hard particles 4 in the inner cavity 3 are transformed into a closely arranged state, thereby increasing the stiffness of the variable stiffness layer 2.

[0052] As Figure 4 shown, exemplarily, in this embodiment, three flexible connection layers 5 are provided in the inner cavity 3, and the hard particles 4 are arranged in a staggered manner between adjacent two flexible connection layers 5. As Figure 5 shown, when no negative pressure is extracted from the variable stiffness layer 2, the mutual force between the particles on different flexible connection layers 5 is very small, showing an approximately fluid state with large deformability, and the variable stiffness layer 2 shows good flexibility; while when negative pressure is extracted from the inner cavity 3, the arrangement state of the particles in the inner cavity 3 changes from the approximate fluid state as Figure 5 shown to the closely arranged state as Figure 6 shown. During the process of extracting negative pressure from the inner cavity 3, the mutual force between the particles in the inner cavity 3 increases as the pressure value decreases, so that the state of the hard particles 4 on different flexible connection layers changes to the closely arranged state as Figure 6 shown.

[0053] Exemplarily, in some embodiments, multiple flexible connection layers are provided in the inner cavity, and the edge positions of the multiple flexible connection layers are joined together to form a closed structure. It can be understood that a cavity is provided in this closed structure, and the negative pressure driving pump is communicated with this cavity. When the negative pressure driving pump forms a negative pressure space in this cavity, the outermost flexible connection layers on both sides of the closed structure contract inwards and fit together or simultaneously squeeze the flexible connection layers inside the closed structure, so that the mutual force between the particles in the inner cavity 3 increases as the pressure value decreases, so that the state of the hard particles 4 on different flexible connection layers changes to the closely arranged state as Figure 6 shown.

[0054] In some embodiments, by way of example, both the flexible connection layer 5 and the variable stiffness layer 2 are made of elastic silicone material. The silicone material not only has good flexibility characteristics but also has good elastic characteristics. Therefore, in this embodiment, both the flexible connection layer and the variable stiffness layer 2 are made of elastic silicone material, which can not only ensure the safety of interaction with people during use, but also its elastic characteristics can achieve the effects of rapid response and rapid state change.

[0055] In some embodiments, the soft robotic hand includes a fluid driving pump, a flexible body 6, an air chamber 7, and a gas channel 8. The variable stiffness layer 2 is disposed on the surface of the flexible body 6, and the gas channel 8 is disposed inside the flexible body 6. One end of the gas channel 8 is used to connect to the fluid driving pump, and the other end extends along the length direction of the flexible body 6. A plurality of air chambers 7 are provided inside the flexible body 6, and the plurality of air chambers 7 are arranged in sequence along the gas channel 8. During use, the fluid driving pump transports a fluid medium into the air chamber 7 through the gas channel 8, and the flexible body 6 bends towards the side where the variable stiffness layer 2 is provided under the action of the fluid medium, thereby fitting the human body surface. In this embodiment, the flexible body 6 can adaptively fit the complex curves of the human body surface under the action of the fluid driving pump, providing a uniform pressure distribution to avoid the hard friction damage of traditional mechanical massage.

[0056] In some embodiments, as Figure 7 shown, the soft robotic hand further includes a fixing member 9. A plurality of flexible bodies 6 are provided on the fixing member 9, and when the fluid driving pump controls the bending of the flexible body 6, the plurality of flexible bodies 6 all bend towards the fixing member 9. In this embodiment, the fixing member 9 is mainly used to connect to an external device for facilitating the installation of the soft robotic hand. During use, the soft robotic hand is installed on a robotic arm through the fixing member 9, so that the flexible robot can perform massage and physiotherapy on acupoints at different positions and angles of the human body, adapt to different body types and postures (such as sitting position, lying position), and achieve personalized services of "one size fits one person".

[0057] By way of example, in this embodiment, the fixing member 9 can also be used to install a plurality of flexible bodies 6 to increase the contact area, comfort, and massage effect. As Figure 7 shown, in this embodiment, four groups of flexible bodies 6 are provided on the fixing member 9, making the soft robotic hand in a "four-leaf clover" shaped bionic structure. In this embodiment, through the "four-leaf clover" shaped bionic structure, the flexible body 6 can achieve the coordinated movement of multiple tentacles, which not only increases the contact area with the human body but also can accurately locate human acupoints, simulating traditional Chinese medicine massage techniques (such as pressing and kneading), increasing comfort and massage effect.

[0058] In some embodiments, one end of the gas channel 8 is placed in the fixing member 9, and the other end of the gas channel 8 is placed in the flexible body 6. It can be understood that in this embodiment, the gas channels 8 in multiple groups of flexible bodies 6 are integrated on the fixing member 9, which can reduce the difficulty of installing the fixing member 9 and the external robot arm when the fixing member 9 is installed with the external robot arm.

[0059] Secondly, illustratively, in this embodiment, each group of flexible bodies 6 can be separately provided with a group of fluid-driven pumps, and each group of fluid-driven pumps can complement each other. During use, different flexible bodies 6 are respectively controlled by separately provided fluid-driven pumps, so as to achieve massage effects of different intensities, thereby further increasing the comfort of massage.

[0060] Exemplarily, in some embodiments, the fluid-driven pump is an air pump, which is a fluid pump that uses gas (usually air) as a working medium. The air pump is not only easy to operate, but also has a fast response speed, and can achieve more precise and high-frequency operation of the flexible body 6.

[0061] In some embodiments, the flexible body 6 is made of elastic silicone. The silicone material not only has good flexibility but also has good elasticity. Therefore, in this embodiment, the flexible body 6 is made of elastic silicone material, which not only can ensure the safety of interaction with people during use, but also its elastic characteristics can achieve the effect of rapid response and rapid change of state.

[0062] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present application are all included in the technical scope of the present application. In addition, without departing from the scope of the main purpose of the present application, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present application.

Claims

1. A physical therapy robot, characterized in that: include: Soft robotic arm; A variable stiffness layer, the variable stiffness layer is arranged on the surface of the soft robotic arm, and an inner cavity is also arranged in the variable stiffness layer; Hard particles, the hard particles are movably arranged in the inner cavity, and there are gaps between adjacent hard particles; A negative pressure driving pump, the negative pressure driving pump is connected to the inner cavity, and the negative pressure driving pump is used to adjust the pressure in the inner cavity; A flexible connection layer, wherein the flexible connection layer is arranged in the inner cavity, and the hard particles are evenly laid in the flexible connection layer; Among them, a plurality of flexible connection layers are provided in the inner cavity, and the edge positions of the plurality of flexible connection layers are spliced ​​together to form a closed airtight structure. A cavity is provided in the closed structure, and the negative pressure driving pump is connected to the cavity. When the negative pressure driving pump forms a negative pressure space in the cavity, the outermost flexible connection layers on both sides of the closed structure shrink inwardly, and fit each other or squeeze the flexible connection layers on the inner side of the closed structure at the same time.

2. The physiotherapy robot according to claim 1, characterized in that: The variable stiffness layer is made of a flexible material. When the negative pressure driving pump forms a negative pressure space in the inner cavity, the variable stiffness layer contracts under the action of the negative pressure space, and the variable stiffness layer drives the hard particles in the inner cavity to squeeze each other.

3. The physiotherapy robot according to any one of claims 1-2, characterized in that: It also includes a flexible connection layer, which is arranged in the inner cavity, and the hard particles are evenly laid in the flexible connection layer.

4. The physiotherapy robot according to claim 2, characterized in that: At least one flexible connection layer is disposed in the inner cavity.

5. The physiotherapy robot according to claim 4, characterized in that: The inner cavity is provided with multiple layers of the flexible connection layers, and the hard particles are staggered between two adjacent layers of the flexible connection layers.

6. The physiotherapy robot according to claim 1, characterized in that: The soft robot arm includes a fluid-driven pump, a flexible body, an air chamber and a gas channel, the variable stiffness layer is arranged on the surface of the flexible body, the gas channel is arranged in the flexible body, one end of the gas channel is used to connect the fluid-driven pump, and the other end extends along the length direction of the flexible body, a plurality of the air chambers are arranged in the flexible body, and the plurality of the air chambers are arranged in sequence along the gas channel, when the fluid-driven pump transports a medium into the air chamber through the gas channel, the flexible body bends toward the side where the variable stiffness layer is arranged.

7. The physiotherapy robot according to claim 6, characterized in that: The soft robot arm also includes a fixing part, on which a plurality of groups of the flexible bodies are arranged, and when the fluid-driven pump controls the flexible bodies to bend, the plurality of groups of the flexible bodies all bend toward the fixing part.

8. The physiotherapy robot according to claim 7, characterized in that: One end of the gas channel is placed in the fixing member, and the other end of the gas channel is placed in the flexible body.

9. The physiotherapy robot according to claim 6, characterized in that: The fluid driven pump is an air pump.

10. The physiotherapy robot according to claim 6, characterized in that: The flexible body is made of elastic silicone.

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