Shoulder rehabilitation wearable equipment based on U-shaped bifurcated pneumatic muscle
Through the combination of the U-shaped bifurcated pneumatic muscle actuator assembly and closed-loop feedback controller, the problems of inconvenience in wearing and uneven torque of existing rehabilitation training equipment are solved, and a comfortable and safe shoulder rehabilitation training effect is achieved.
Patent Information
- Application Number
- CN202510909003.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-02
- Publication Date
- 2025-08-15
AI Technical Summary
The existing rehabilitation training equipment has stiff structure, large size, inconvenient wear, and is prone to shearing forces and secondary damage, making it difficult to use in home or community environments. Traditional pneumatic or cable driving devices are prone to wrinkle instability and the output torque is not smooth.
U-shaped bifurcated pneumatic muscle actuator assembly, including a U-shaped support arm and body support, assists shoulder rehabilitation movement through gas pressure, and combines a flexible sensor and a closed-loop feedback controller to achieve precise shoulder abduction and horizontal flexion and extension movement.
It has achieved shoulder rehabilitation training with high comfort and safety. The airbag structure fits the shoulder movement trajectory, avoids sudden torque changes, transmits uniform torque, and reduces discomfort. It is suitable for home and community use.
Smart Images
Figure CN120478105A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of medical rehabilitation equipment, and in particular to a wearable shoulder rehabilitation device based on a U-shaped bifurcated pneumatic muscle. Background Art
[0002] Patients with sequelae of neuromuscular diseases, stroke, and rotator cuff injuries often experience limited shoulder abduction, horizontal flexion and extension, and rotation, severely impacting their daily lives and ability to care for themselves. Medical theory and practice have demonstrated that extensive, repetitive motor-focused training can restore limb motor function to a certain extent in patients with neuromuscular diseases, hemiplegia caused by stroke, and shoulder dysfunction caused by rotator cuff injuries.
[0003] Traditional rehabilitation methods primarily involve manual passive traction, relying on a physical therapist to manually assist with shoulder joint movement training. However, the number of repetitions and intensity of training are limited by the therapist's physical strength, making it difficult to achieve the high-dose repetitive training required for neuroplasticity. Using rehabilitation robots to assist patients in rehabilitation training can save significant human and material resources, and can also provide real-time quantitative assessment of a patient's recovery status, significantly impacting the entire rehabilitation industry.
[0004] Existing robotics for rehabilitation training include rigid exoskeletons, which use high-rigidity materials as their frames and are powered by motors or hydraulic cylinders. These devices can achieve high-precision joint positioning, but their rigid structure, bulky size, and inconvenience make them difficult to wear. Furthermore, they require extremely high shoulder alignment, which can easily cause shear forces and secondary injuries, making them unsuitable for use in home or community settings. Other technologies include soft shoulder assist devices driven by pneumatics or cables, such as accordion-shaped airbags integrated into clothing, or rehabilitation devices that utilize multiple cables for traction. However, these devices, due to their single, large cavity, are prone to wrinkling and instability, and their output torque is uneven. Summary of the Invention
[0005] Purpose of the invention: In view of the above shortcomings, the present invention provides a wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscles with high safety and comfort.
[0006] Technical solution: To solve the above problems, the present invention adopts a shoulder rehabilitation wearable device based on U-shaped bifurcated pneumatic muscle, which includes a U-shaped bifurcated pneumatic muscle actuator component, a soft wearable vest component and an integrated control box component. The soft wearable vest component is used to install the U-shaped bifurcated pneumatic muscle actuator component and the integrated control box component. The soft wearable vest component is used to fix the U-shaped bifurcated pneumatic muscle actuator component under the user's armpit. The U-shaped bifurcated pneumatic muscle actuator component includes a U-shaped support arm, a main body support part and a connector. The U-shaped support arm part and the main body support part are both provided with a connector. The connector is connected to the soft wearable vest assembly, and the U-shaped arm portion includes a first arm and a second arm, the first arm and the second arm are elastic components with an internal cavity, the main support portion has an internal cavity, and one end of the first arm and one end of the second arm converge and communicate with one end of the main support portion, and a gas inlet is provided at the other end of the main support portion, and the integrated control box assembly controls the gas pressure of the first arm, the second arm and the internal cavity of the main support portion through the gas inlet of the main support portion, so that the U-shaped arm portion is deformed, thereby driving the U-shaped arm portion to generate an auxiliary torque to assist shoulder rehabilitation.
[0007] Furthermore, the U-shaped bifurcated pneumatic muscle actuator assembly is attached to the human body's armpits, shoulders, and upper arms through Velcro and fixing straps. It is fixed to the vest support through the bottom end, and the distal ends of both arms are fixed to the middle section of the upper arm. The U-shaped bifurcated pneumatic muscle actuator assembly also includes a first restriction layer and a second restriction layer arranged in parallel. The first restriction layer and the second restriction layer are arranged at the connection between the first and second arms and the main support portion. The first restriction layer and the second restriction layer are glued to the surface of the connection between the first and second arms and the main support portion. The first restriction layer is close to the soft wearable vest assembly, and the second restriction layer is far away from the soft wearable vest assembly. The material modulus of the second restriction layer is lower than that of the first restriction layer, and the material modulus of the second restriction layer is higher than that of the U-shaped arm portion and the main support portion. The material of the first restriction layer is inextensible.
[0008] The first restriction layer is located on the rear side of the oblique bifurcation area in the middle section of the U-shaped bifurcation airbag, and is used to suppress excessive bending of this area during inflation, ensuring that the force direction of the bifurcation arm is consistent with the shoulder assistance path; the material uses high-modulus inextensible fabric, and the stiffness is significantly better than the surrounding parts; the first restriction layer is adhered to a 15mm wide Velcro fleece strap on the surface close to the body, which is adhered to the corresponding hook and barbed strap on the soft wearable vest component to form a second fixed constraint, further improving the overall fit and stability of the bifurcation middle section and the vest.
[0009] The second restriction layer is located in front of the oblique bifurcation area in the middle section of the airbag, and its material modulus is lower than that of the first restriction layer and higher than that of the airbag and the nylon fiber woven layer; the second restriction layer allows the area to produce controllable bending when inflated to adapt to the needs of the shoulder structure and the auxiliary angle; the first and second restriction layers cooperate to form a stiffness partition for the middle section of the airbag that is both stretchable and directionally bendable.
[0010] Furthermore, the U-shaped forked pneumatic muscle actuator assembly also includes a first braided layer arranged on the outside of the main support part, a second braided layer arranged on the outside of the first arm, and a third braided layer arranged on the outside of the second arm. The first braided layer is sleeved on the outside of the main support part, the second braided layer is sleeved on the outside of the first arm, and the third braided layer is sleeved on the outside of the second arm. The first braided layer, the second braided layer and the third braided layer are woven with nylon fibers and do not have axial extensibility. When the main support part, the first arm and the second arm are inflated, the first braided layer, the second braided layer and the third braided layer extend circumferentially adaptively.
[0011] Furthermore, the connecting piece includes a furry surface respectively arranged on the outer surfaces of the first woven layer, the second woven layer and the third woven layer. The furry surface is located on the side close to the soft wearable vest component and cooperates with the barbed surface on the surface of the soft wearable vest component to achieve Velcro connection.
[0012] The first braided layer serves as an axial constraint component at the bottom of the pneumatic muscle actuator and is fixed to the lower part of the U-shaped bifurcated airbag by gluing. The first braided layer is made of high-strength nylon mesh tube, which can not only expand and contract freely in the radial and circumferential directions with the airbag, but also provide high rigidity in the bending direction, which can suppress useless bending of the bottom tube section during inflation and ensure that the bending of the entire airbag is concentrated in the predetermined bifurcated arm area, thereby improving the efficiency and predictability of the power assist. High bending rigidity ensures that the bottom tube remains straight when subjected to axial force, and does not cause loose connections or position drift due to lateral bending, so that the power assist torque can be reliably transmitted to the upper arm. If the bottom tube bends at this point, it will easily cause wrinkling of the hose or stress concentration at the interface, which will lead to seal failure or slipping of the air guide tube. The high-rigidity braided layer can effectively reduce this risk. In order to achieve a quick and stable connection with the soft wearable vest component, a 20mm wide Velcro strap is attached along the entire length of the tube segment on the side close to the body, which can be firmly bonded to the barbed surface of the hook reserved on the soft wearable vest component, ensuring that the lower part of the U-shaped forked airbag does not slip relative to each other during inflation and movement.
[0013] The second and third braided layers are respectively applied to the outer periphery of the upper U-shaped section of the U-shaped bifurcated airbag and secured to the U-shaped portion of the U-shaped bifurcated airbag by gluing. The braided mesh is composed of high-strength nylon fibers that lack axial stretchability. The mesh tube expands radially with balloon inflation and contracts when deflated, but maintains significant rigidity in the bending direction, which refers to the direction in which the braided tube bends around the tube axis at any angle. During this bending motion, the braided mesh tube as a whole undergoes a curved deformation, not a simple stretching process, but rather requires the threads to slide, flip, or compress to accommodate the bend. Since the mesh tube itself is solid interwoven nylon fiber with high inter-fiber friction and structural thickness, it exhibits greater bending stiffness when bent laterally, resists wrinkling and lateral bending, and ensures that the U-shaped arm of the U-shaped forked airbag only undergoes predetermined expansion and contraction along the arc surface around the acromion without unexpected folding or lateral twisting; the back side of the woven layer (i.e., the vest close to the patient's shoulder) is provided with a 20mm wide Velcro fleece strap along the entire U-shaped section, which can be firmly bonded to the hook and barbed strap at the corresponding position of the vest to form a third fixed constraint, ensuring that the upper half of the airbag can still be stably anchored to the vest under high pressure without slipping or falling off, greatly improving the reliability of power transmission and the comfort of the patient wearing.
[0014] Furthermore, the U-shaped bifurcated pneumatic muscle actuator assembly also includes a first end seal disposed on the end face of the main support portion and a first fastener sleeved on the outside of one end of the main support portion; the first end seal is provided with an airtight passage communicating with the cavity of the main support portion, and the first fastener clamps the first braided layer to the outside of one end of the main support portion, while simultaneously pressing the first end seal against the end of the main support portion. The first end seal is a cylindrical structure with a radially protruding tracheal interface on its outer side for inserting the airway tube; a convex ring is provided on the periphery of the interface to increase the friction fit strength between the airway tube and the interface; the inner wall of the seal is provided with a convex groove and a groove matching structure corresponding to the airway tube channel to form a multiple seal to ensure that there is no leakage at the bottom of the airbag cavity.
[0015] The first end fastener adjusts the tightness of the lower end of the U-shaped forked airbag and the first end seal through the first end screw and the first end nut; after the first end nut is tightened, the first end fastener contracts and presses the first end seal and the lower end of the U-shaped forked airbag to ensure an airtight connection between the two; a fixing belt hole is provided on each side of the outer ring of the first end fastener, which is used to connect with the Velcro or buckle on the soft wearable vest component to achieve reliable anchoring of the bottom end of the actuator.
[0016] Furthermore, the U-shaped forked pneumatic muscle actuator assembly also includes a second end seal arranged on the end face of the first arm and a second end fastener sleeved on the outside of one end of the first arm; the second end fastener clamps the second braided layer to the outside of one end of the first arm, and at the same time presses the second end seal to the end of the first arm.
[0017] Furthermore, the U-shaped forked pneumatic muscle actuator assembly also includes a third end seal arranged on the outside of one end of the second arm and a third end fastener sleeved on the outside of one end of the second arm; the third end fastener clamps the third braided layer on the outside of one end of the second arm, and at the same time presses the third end seal to the end of the second arm.
[0018] The second end seal and the third end seal are respectively arranged at the distal end of the U-shaped section of the U-shaped forked airbag, and each is a solid cylindrical structure; the inner walls of the second end seal and the third end seal are provided with grooves and convex grooves that dock with the airbag port to cooperate with the inner layer airbag TPU film of the U-shaped forked airbag to achieve an efficient airtight connection with the TPU film of the inner layer of the U-shaped forked airbag; the second end seal and the third end seal do not contain external trachea interfaces to avoid interference with the upper arm movement.
[0019] The second end fastener adjusts the tightness of the rear distal end of the U-shaped segment of the U-shaped forked airbag and the second end seal through the second end screw and the second end nut; after the second end nut is tightened, the second end fastener contracts and presses the second end seal and the rear distal end of the U-shaped segment of the U-shaped forked airbag to ensure an airtight connection between the two.
[0020] The third end fastener adjusts the tightness of the front distal end of the U-shaped segment of the U-shaped forked airbag and the third end seal through the third end screw and the third end nut; after the third end nut is tightened, the third end fastener contracts and presses the third end seal and the front distal end of the U-shaped segment of the U-shaped forked airbag to ensure an airtight connection between the two.
[0021] Furthermore, flexible sensors are positioned on the outside of the second and third woven layers to detect the bending angle and torque of the human shoulder in real time. A first flexible sensor and a second flexible sensor, attached to the outside of the second and third woven layers, respectively, monitor the inflation and deformation of the airbag in real time, outputting angle and torque changes in shoulder abduction and horizontal flexion and extension signals, which are fed back to a closed-loop feedback controller for closed-loop air pressure regulation, ensuring precise tracking of the motion trajectory and smooth torque output.
[0022] Furthermore, the integrated control box assembly includes an air pump, an electromagnetic proportional valve, an air duct, and a closed-loop feedback controller. One end of the air duct is connected to the air pump outlet, and the other end is connected to the air inlet of the main support portion. The air pump supplies air to the U-shaped pneumatic muscle actuator assembly through the air duct. The air duct is provided with an electromagnetic proportional valve, which is used to adjust the air pressure in the U-shaped arm portion. The closed-loop feedback controller is used to receive data from the flexible sensor, and solve the PID control instruction based on the preset training trajectory and the received flexible sensor data, and output the PID control instruction to control the electromagnetic proportional valve. The electromagnetic proportional valve controls the valve opening and thus adjusts the air pressure level by receiving the signal from the closed-loop feedback controller. Based on the preset training trajectory and the actuator angle and torque sensor feedback, the closed-loop feedback controller solves the PID control instruction and outputs a drive voltage signal to the proportional valve, thereby achieving closed-loop tracking control of the U-shaped pneumatic muscle brake assembly by precisely adjusting the air pressure, assisting the user in completing shoulder rehabilitation training.
[0023] The integrated control box assembly is fixed to the center of the rear side of the soft wearable vest assembly with a detachable quick-draw strap, located above the shoulder blades for balanced weight distribution. The quick-draw strap firmly connects the top of the control box to the vest through a dual mechanism of Velcro and buckle, and is equipped with a safety lock at the bottom to prevent loosening during strenuous exercise. The shell of the integrated control box assembly adopts an aluminum alloy shell and a built-in heat sink design to ensure stable temperature rise of the air pump and closed-loop feedback controller during continuous operation.
[0024] The air guide tube is made of a soft, pressure-resistant silicone tube, the upper end of which is tightly fitted with the radially protruding air tube interface on the first-end seal in an airtight packaging manner; the annular boss on the outer edge of the interface is interlocked with the inner wall of the air guide tube to ensure no slippage or leakage under maximum working pressure; after the pipeline exits the interface from the bottom-end seal, it extends downward along the outer curve of the actuator, and is introduced into the inside of the integrated control box through the pipe groove reserved on the rear side of the soft wearable vest assembly, and then connected to the electromagnetic proportional valve by the air source hose to realize the pneumatic closed loop of the entire device.
[0025] Furthermore, the main support, first arm, and second arm are integrally formed by hot pressing, using thermoplastic polyurethane film. The U-shaped bifurcated airbag is the core actuator for achieving synergistic assistance in shoulder abduction and horizontal flexion and extension. It is shaped like a long tube along its axis, divided from top to bottom into two arms resembling the letter "U," merging at the lower end into a single base tube.
[0026] Beneficial Effects: Compared to the prior art, the present invention has a significant advantage in that the U-shaped segment of the U-shaped bifurcated airbag design in the U-shaped bifurcated pneumatic muscle actuator assembly can accurately match the biomechanical motion trajectory of shoulder abduction and horizontal flexion and extension. The U-shaped curved structure allows the airbag to expand along the natural motion trajectory of the shoulder and upper arm during inflation, providing the correct motion force for the shoulder joint. Unlike traditional linear airbags or semicircular airbags, the U-shaped segment's curved shape better fits the shoulder's range of motion, avoiding sudden changes in torque and making force transmission smoother and more natural. The two arms of the U-shaped segment divert gas through the bottom tube cavity to provide assistance for shoulder abduction and horizontal flexion and extension respectively. The expansion directions of the two arms are relatively independent, but they can work together to provide precise motion assistance. The structural design of the U-shaped segment allows the airbag to expand evenly during inflation, avoiding problems such as local wrinkles and uneven gas distribution that may occur in traditional airbags. Since the two arms of the U-shaped segment are bifurcated, gas is evenly distributed to the two arm segments through the bifurcated cavity. During shoulder abduction and horizontal flexion and extension, the U-shaped segment transmits force in a balanced manner, ensuring uniform torque output throughout the entire shoulder movement and avoiding the local overload and uneven torque problems common in single-airbag designs. The structural design of the U-shaped segment allows the airbag to conform to the natural curvature and movement of the shoulder and upper arm. When the airbag inflates, its flexible bending structure and adaptability allow it to better conform to the body's movement needs, reducing the discomfort caused by traditional rigid exoskeleton devices. At the same time, the airbag's surface flexible material and fabric structure ensure that the contact force with the skin is evenly distributed, avoiding unnecessary friction or shear force.
[0027] In this invention, the design of the first and second restricting layers provides clear guidance for the airbag's expansion direction. The first restricting layer, located at the rear of the airbag and made of a high-modulus, rigid material, effectively limits excessive posterior bending or uneven expansion during shoulder abduction. The second restricting layer, located at the front of the airbag and made of a low-modulus material with good elasticity, allows a certain degree of flexible bending, thereby enabling natural shoulder flexion and extension. The combination of these two layers ensures the airbag maintains a predetermined direction and shape during expansion, effectively avoiding asymmetry during expansion and maintaining a stable trajectory. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention.
[0029] Figure 2 Schematic diagram of the overall structure of the U-shaped bifurcated pneumatic muscle actuator assembly in the present invention.
[0030] Figure 3 This is a schematic diagram of the pneumatic muscle actuator of the present invention when it is not inflated.
[0031] Figure 4It is a cross-sectional schematic diagram of the U-shaped bifurcated airbag main body support portion in the present invention.
[0032] Figure 5 It is a cross-sectional schematic diagram of the U-shaped arm portion of the U-shaped bifurcated airbag in the present invention.
[0033] Figure 6 Schematic diagram of the structure of the U-shaped bifurcated airbag in the present invention.
[0034] Figure 7 This is a schematic diagram of the assembly of the first end fastener, the first end screw and the first end nut in the present invention.
[0035] Figure 8 This is a schematic diagram of the first end seal in the present invention.
[0036] Figure 9 It is a cross-sectional view of the first end seal in the present invention.
[0037] Figure 10 Schematic diagram of the second end seal in the present invention. DETAILED DESCRIPTION
[0038] like Figure 1 As shown in the figure, a shoulder rehabilitation wearable device based on a U-shaped bifurcated pneumatic muscle in this embodiment includes a U-shaped bifurcated pneumatic muscle actuator assembly 1, a soft wearable vest assembly 2, and an integrated control box assembly 3. The U-shaped bifurcated pneumatic muscle actuator assembly 1 is attached to the soft wearable vest assembly 2 via Velcro and a fixing strap and positioned under the human armpit. Its bottom end is fixed to the side of the soft wearable vest assembly 2, and its two distal ends are fixed to the middle section of the upper arm of the soft wearable vest assembly 2. The actuator assembly consists of a U-shaped bifurcated airbag 7, a first-end seal 8, a first-end fastener 9, a first-end screw 10, a first-end nut 11, a first braided layer 12, a first restricting layer 13, a second restricting layer 14, a second braided layer 15, a third braided layer 16, a second-end seal 19, a third-end seal 20, a second-end fastener 21, a second-end screw 23, a second-end nut 24, a third-end fastener 22, a third-end screw 25, and a third-end nut 26. The air membrane within the U-shaped bifurcated airbag 7 is airtightly connected to the airway tube. By varying the air chamber pressure, the bifurcated arms can be driven to generate assistive torques for shoulder abduction and horizontal flexion and extension, respectively. A flexible bending sensor assembly is also arranged on the U-shaped bifurcated pneumatic muscle actuator assembly 1 to collect real-time shoulder angle and torque for PID control.
[0039] The integrated control box assembly 3 is fixed to the center of the rear of the soft wearable vest assembly 2 and houses a micro air pump 4, a solenoid proportional valve 5, and a closed-loop feedback controller 6. The air pump supplies air to the U-shaped bifurcated pneumatic muscle actuator assembly 1 via an airway 27, while the proportional valve adjusts the air pressure. The closed-loop feedback controller, based on a preset training trajectory and feedback from the actuator's angle and torque sensors, solves PID control instructions and outputs a drive voltage to the proportional valve. This precise regulation of air pressure achieves closed-loop tracking control of the U-shaped bifurcated pneumatic muscle, assisting patients in completing shoulder rehabilitation training.
[0040] refer to Figure 2 , Figure 2 This is a schematic diagram of a U-shaped bifurcated pneumatic muscle actuator assembly 1 for a shoulder rehabilitation wearable device when extended. The U-shaped bifurcated pneumatic muscle actuator assembly 1 comprises a U-shaped bifurcated airbag 7, a first end seal 8, a first end fastener 9, a first end screw 10, a first end nut 11, a first braided layer 12, a first restricting layer 13, a second restricting layer 14, a second braided layer 15, a third braided layer 16, a first flexible sensor 17, a second flexible sensor 18, a second end seal 19, a third end seal 20, a second end fastener 21, a third end fastener 22, a second end screw 23, a second end nut 24, a third end screw 25, and a third end nut 26. The U-shaped bifurcated airbag 7 comprises a U-shaped arm portion and a main support portion. The U-shaped arm portion comprises a first arm and a second arm. The first arm and the second arm are elastic components with internal cavities. The main support portion also has an internal cavity. One end of the first arm and one end of the second arm converge and connect to each other, and are also connected to one end of the main support portion.
[0041] The U-shaped forked pneumatic muscle actuator assembly 1 can achieve different degrees of bending movement by adjusting the internal air pressure. The U-shaped part of the U-shaped forked pneumatic muscle actuator assembly 1 is tightly connected and fixed to the second braided layer 15 and the third braided layer 16 by gluing, and the second braided layer 15 and the third braided layer 16 have only radial and circumferential ductility, and do not have axial ductility, ensuring that the U-shaped arm of the U-shaped forked airbag only undergoes predetermined expansion and contraction along the arc surface around the acromion without any unexpected folding or lateral twisting, thereby ensuring the fit of the U-shaped part of the airbag to the soft wearable vest assembly 2; the main body support portion on the lower side of the U-shaped forked pneumatic muscle actuator assembly 1 is also tightly connected and fixed to the first braided layer 12 by gluing, and the details are similar to the second braided layer 15 and the third braided layer 16; the surfaces of the first braided layer 12, the second braided layer 15 and the third braided layer 16 are connected to the outer surface of the soft wearable vest assembly 2 by Velcro, and the appearance of the first braided layer 12, the second braided layer 15 and the third braided layer 16 The surface is provided with a furry surface, which cooperates with the barbed surface of the soft wearable vest component 2 to ensure that the U-shaped bifurcated pneumatic muscle actuator component 1 is tightly fitted with the soft wearable vest component 2; the flexible sensor 17 and the flexible sensor 18 are respectively fixed to the outside of the second braided layer 15 and the third braided layer 16. Since the second braided layer 15 and the third braided layer 16 do not produce obvious axial extension characteristics when the soft wearable robot body component 1 undergoes bending movement, the flexible sensor 17 and the flexible sensor 18 are not ductile, which can ensure the normal operation of their angle torque measurement function and signal feedback; the first restriction layer 13 is glued to the rear side of the oblique bifurcation area in the middle section of the airbag, which is used to suppress excessive bending in this area during inflation and ensure that the force direction of the bifurcation arm is consistent with the shoulder assistance path; the second restriction layer 14 is glued to the front side of the oblique bifurcation area in the middle section of the airbag. The material modulus is lower than that of the first restriction layer and higher than that of the airbag, allowing this area to produce controllable bending during inflation to adapt to the needs of the shoulder structure and auxiliary angle.
[0042] When the U-shaped bifurcated pneumatic muscle actuator assembly 1 adjusts the air pressure to achieve different degrees of bending movement, it will work together with the first braided layer 12, the first restriction layer 13, the second restriction layer 14, the second braided layer 15 and the third braided layer 16 to drive the human elbow to achieve shoulder abduction and horizontal flexion and extension and other functions. The flexible sensor 17 and the flexible sensor 18 will detect the bending angle and torque of the human shoulder in real time and feed the measured information back to the closed-loop feedback controller 6, and further adjust the internal air pressure of the U-shaped bifurcated pneumatic muscle actuator assembly 1 through the electromagnetic proportional valve 5 to achieve tracking of the preset training trajectory and PID feedback control. The schematic diagram of the wearable device state when the soft wearable robot body assembly 1 is not inflated is shown as follows: Figure 3 shown.
[0043] refer to Figure 4, after the first end fastener 9, the first end screw 10, and the first end nut 11 are fastened and assembled, the first end fastener 9 contracts to press the first end seal 8 and the lower end of the U-shaped bifurcated airbag 7 to ensure an airtight connection between the two; a fixing hole (not shown in the figure) can be provided on both sides of the first end fastener 9 for connecting with the buckle on the soft wearable vest assembly to achieve reliable anchoring of the bottom end of the actuator. The first woven layer 12 is made of high-strength nylon mesh tube, which can expand and contract freely in the radial and circumferential directions with the airbag, and can provide higher rigidity in the bending direction. The first restriction layer is located on the side of the oblique bifurcated area in the middle section of the airbag close to the user's body, and is used to suppress excessive bending of this area during inflation, ensuring that the force direction of the bifurcated arm is consistent with the shoulder assistance path. The material is a high-modulus non-extensible fabric with significantly better rigidity than the surrounding parts. The second-end nut 24, the second-end fastener 21, and the second-end screw 23 are tightened and assembled, shrinking and pressing the second-end seal and the U-shaped arm section of the U-shaped forked airbag 7 on the rear side of the body to ensure an airtight connection between the two; the third-end nut 26, the third-end fastener 22, and the third-end screw 25 are tightened and assembled, shrinking and pressing the third-end seal and the U-shaped arm section of the U-shaped forked airbag 7 on the front side of the body to ensure an airtight connection between the two.
[0044] refer to Figure 5 The second end seal 19 and the third end seal 20 are respectively placed at the distal ends of the U-shaped sections of the two arms, and each is a solid cylindrical structure. The inner walls of the second end seal 19 and the third end seal 20 are provided with grooves and convex grooves that dock with the airbag ports to achieve an efficient airtight connection with the inner airbag TPU film. The second end seal 19 and the third end seal 20 do not contain external trachea interfaces to avoid interference with the upper arm movement.
[0045] refer to Figure 6, the U-shaped bifurcated airbag 7 is the core executive element for achieving collaborative assistance in the dual degrees of freedom of shoulder abduction and horizontal flexion and extension. The whole is in the shape of a long tube along the axis of the airbag, and is divided into two arm segments from top to bottom, shaped like the letter "U", and the lower end merges into a single bottom tube. The material is made of thermoplastic polyurethane (TPU) film, which is formed into an integral cavity structure by hot pressing. The bottom tube cavity is located at the lowest end of the U-shaped bifurcated airbag 7. As the access point of the gas source, the bottom tube cavity is responsible for evenly introducing the gas into the two arm cavities of the airbag. In addition to the axial support function, it also plays a role in gas distribution. The two arm segments of the U-shaped bifurcated airbag 7 fork out from the upper end of the bottom tube cavity, extending in a curved shape toward the shoulder and upper arm respectively. The inner cavities of the two arm segments are connected to the bottom tube cavity to ensure that the gas can flow evenly into the two bifurcated cavities, respectively providing the auxiliary force required for shoulder abduction and horizontal flexion and extension. Due to the curved design of the two arms of the U-shaped bifurcated airbag 7, they can achieve a smooth output of torque based on changes in inflation volume. The airbag's expansion direction matches the direction of shoulder movement, simulating the natural movement of the shoulder. Once worn by the user, the airway tube, according to the PID instructions of the closed-loop feedback controller, synchronously supplies air to the base tube and both arms of the U-shaped bifurcated airbag 7. The airbag first expands axially along the base tube, driving the bifurcated arms to open. Then, guided by the partitioned constraint layer, the two arms simultaneously expand toward the outside and front of the shoulder, providing assistance in abduction and flexion and extension. By regulating air pressure in a closed loop, continuous and smooth shoulder joint motion assistance training is achieved.
[0046] refer to Figure 7 , Figure 7 This is a schematic diagram of the assembly of the first end fastener 9, the first end screw 10 and the first end nut 11. Figure 7 This is a schematic diagram of the assembly position of the first fastener 9, the first end screw 10, and the first end nut 11 observed from the horizontal cross-section of the bottom section of the U-shaped forked pneumatic muscle. The first end fastener 9 is composed of an annular metal, the inner diameter of which is slightly smaller than the outer diameter of the bottom tube of the lower section of the U-shaped forked airbag. The annular cross-section of the first end fastener 9 can evenly distribute the annular tightening force. When tightened with the first end screw 10, it can tightly clamp the bottom tube of the lower section of the U-shaped forked airbag to prevent axial slippage or loosening, thereby maintaining the stability of the position of the U-shaped forked pneumatic muscle actuator. The assembly structure of the first end screw 10 and the first end nut 11, through the bolt connection method, effectively secures the bottom tube braid layer to the surface of the pneumatic muscle bottom tube, providing reliable constraints for the subsequent operation of the U-shaped forked airbag.
[0047] refer to Figure 8 and Figure 9 , Figure 8 is a schematic diagram of the first end seal, Figure 9 This is a cross-sectional view of the first end seal. Figure 8The side view shows the outline of the first end seal 8, which is cylindrical in shape and has two radial steps. The first step is the outer flange step, a wide, outermost ring that presses the bottom tube of the U-shaped bifurcated airbag 7 together and prevents slippage. The second step is the inner connecting neck, a cylindrical neck that tapers inward from the outer flange and provides a snap-fit for securing the pneumatic airway. Figure 9 The internal structure and wall thickness distribution of the first end seal 8 are shown in this cross-sectional view, cut along the cylindrical axis. The first end seal 8 extends from the airway interface at the neck to the interior of the airbag cavity, forming an airtight passage. The wall thickness of the first end seal 8 between the neck and the flange is gradually tapered, ensuring mechanical strength while effectively dissipating the annular pressure generated during inflation.
[0048] refer to Figure 10 , Figure 10 This is a schematic diagram of the second end seal, showing the side profile of second end seal 19. Second end seal 19 is used at the ends of the upper arms of the U-shaped bifurcated pneumatic muscle, sealingly connecting to the U-shaped section of the U-shaped bifurcated airbag 7. Second end seal 19 is a cylindrical, solid structure with a simple appearance and no additional components. It consists of two radial steps: an outer ring flange and a neck body. The outer ring flange is located at the outermost edge of the seal and tightly presses against the inner wall of the U-shaped arm ends of the U-shaped bifurcated airbag 7. The neck body connects the outer ring flange to the inner cavity of the bifurcated airbag. The outer diameter of the neck body is slightly smaller than the flange to assist in guidance and positioning.
Claims
1. A wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle, characterized in that: The invention comprises a U-shaped bifurcated pneumatic muscle actuator assembly (1), a soft wearable vest assembly (2) and an integrated control box assembly (3), wherein the soft wearable vest assembly (2) is used to install the U-shaped bifurcated pneumatic muscle actuator assembly (1) and the integrated control box assembly (3), and the soft wearable vest assembly (2) is used to fix the U-shaped bifurcated pneumatic muscle actuator assembly (1) under the armpit of the user, and the U-shaped bifurcated pneumatic muscle actuator assembly (1) comprises a U-shaped support arm, a main body support part and a connecting piece, and the U-shaped support arm and the main body support part are both provided with a connecting piece and the soft wearable vest. The vest assembly is connected, the U-shaped support arm portion includes a first support arm and a second support arm, the first support arm and the second support arm are elastic components with an internal cavity, the main support portion has an internal cavity, and one end of the first support arm is connected to one end of the second support arm and is connected to one end of the main support portion, and a gas inlet is provided at the other end of the main support portion, and the integrated control box assembly controls the gas pressure of the first support arm, the second support arm and the internal cavity of the main support portion through the gas inlet of the main support portion, and the U-shaped support arm portion is deformed, thereby driving the U-shaped support arm portion to generate an auxiliary torque to assist shoulder rehabilitation.
2. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 1, characterized in that: The U-shaped bifurcated pneumatic muscle actuator assembly further comprises a first restriction layer (13) and a second restriction layer (14) arranged in parallel, wherein the first restriction layer (13) and the second restriction layer (14) are arranged on the outer surface of the connection between the first support arm and the second support arm and the main body support portion, the first restriction layer (13) is close to the soft wearable vest assembly (2), and the second restriction layer (14) is far away from the soft wearable vest assembly (2), and the material modulus of the second restriction layer (14) is lower than the material modulus of the first restriction layer (13), and the material modulus of the second restriction layer (14) is higher than the material modulus of the U-shaped support arm portion and the main body support portion, and the material of the first restriction layer (13) is an inextensible fabric.
3. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 2, characterized in that: The U-shaped bifurcated pneumatic muscle actuator assembly (1) further comprises a first braided layer (12) arranged on the outside of the main support portion, a second braided layer (15) arranged on the outside of the first arm, and a third braided layer (16) arranged on the outside of the second arm, wherein the first braided layer (12) is sleeved on the outside of the main support portion, the second braided layer (15) is sleeved on the outside of the first arm, and the third braided layer (16) is sleeved on the outside of the second arm. The first braided layer (12), the second braided layer (15), and the third braided layer (16) are braided with nylon fibers and do not have axial ductility. When the main support portion, the first arm, and the second arm are inflated, the first braided layer (12), the second braided layer (15), and the third braided layer (16) are adaptively extended circumferentially.
4. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 3, characterized in that: The connector comprises a furry surface respectively arranged on the outer surfaces of a first braided layer (12), a second braided layer (15) and a third braided layer (16); the furry surface is located on a side close to the soft wearable vest component and cooperates with a thorny surface on the surface of the soft wearable vest component to achieve a Velcro connection.
5. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 3, characterized in that: The U-shaped bifurcated pneumatic muscle actuator assembly (1) further comprises a first end seal (8) arranged on the end surface of the main body support portion, and a first fastener (9) sleeved on the outside of one end of the main body support portion; the first end seal (8) is provided with an airtight passage communicating with the cavity of the main body support portion, and the first fastener (9) clamps the first braided layer (12) on the outside of one end of the main body support portion, and simultaneously presses the first end seal (8) against the end of the main body support portion.
6. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 3, characterized in that: The U-shaped bifurcated pneumatic muscle actuator assembly (1) further comprises a second end seal (19) arranged on the end surface of the first arm, and a second end fastener (21) sleeved on the outside of one end of the first arm; the second end fastener (21) clamps the second braided layer (15) on the outside of one end of the first arm, and simultaneously presses the second end seal (19) against the end of the first arm.
7. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 3, characterized in that: The U-shaped bifurcated pneumatic muscle actuator assembly (1) further comprises a third end seal (20) arranged on the outside of one end of the second arm, and a third end fastener (22) sleeved on the outside of one end of the second arm; the third end fastener (22) clamps the third braided layer (16) on the outside of one end of the second arm, and simultaneously presses the third end seal (20) against the end of the second arm.
8. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 3, characterized in that: Flexible sensors are provided on the outside of the second braided layer (15) and the third braided layer (16), and the flexible sensors are used to detect the bending angle and torque of the human shoulder in real time.
9. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 1, characterized in that: The integrated control box assembly comprises an air pump (4), an electromagnetic proportional valve (5), an air guide tube (27) and a closed-loop feedback controller (6), wherein one end of the air guide tube (27) is connected to the air outlet of the air pump (4), and the other end of the air guide tube (27) is connected to the gas inlet of the main body support portion. The electromagnetic proportional valve (5) is provided on the air guide tube (27), and the electromagnetic proportional valve (5) is used to adjust the air pressure of the U-shaped support arm portion. The closed-loop feedback controller (6) is used to receive data from the flexible sensor, and solve a PID control instruction according to a preset training trajectory and the received data from the flexible sensor, and output the PID control instruction to control the electromagnetic proportional valve (5).
10. The wearable shoulder rehabilitation device based on U-shaped bifurcated pneumatic muscle according to claim 1, characterized in that: The main body support portion, the first support arm and the second support arm are an airbag structure formed in one piece by hot pressing and are made of thermoplastic polyurethane film material.