Pneumatic soft joint movement rehabilitation robot

Abstract

The invention provides a pneumatic soft joint movement rehabilitation robot, and belongs to the technical field of wearable robots. Comprising an elbow soft body actuator, a knee soft body actuator, a pneumatic driving assembly, a main controller and a power source, the elbow soft body actuator comprises an arm sleeve, the two ends of the arm sleeve are each fixedly connected with a wedge-shaped block A, a folding type air bag A is fixedly connected between the two wedge-shaped blocks A, and a curvature sensor A and an electromyographic signal collecting module A are arranged on the inner side of the arm sleeve; the knee soft body actuator comprises a leg sleeve, the two ends of the leg sleeve are each fixedly connected with a wedge-shaped block B, a folding type air bag B is fixedly connected between the two wedge-shaped blocks B, and a curvature sensor B and an electromyographic signal collecting module B are arranged on the inner side of the leg sleeve. According to the invention, bending of arms and legs can be effectively supported at the same time, human body action intentions can be judged by collecting electromyographic signals, human body movement and rehabilitation training can be assisted, and muscle fatigue generated by movement can be effectively relieved.

Description

Technical Field

[0001] This invention relates to the field of wearable robot technology, specifically to a pneumatic soft joint rehabilitation robot. Background Technology

[0002] Limb injuries caused by overexertion and repetitive tasks are among the major work-related health problems. Human performance in terms of movement and load carrying is limited, primarily due to limitations in maximum muscle strength and cumulative fatigue. Fatigue can be caused by various cellular mechanisms, such as limited energy supply, restricted muscle action potential conduction, or limited calcium ion reuptake and release. Muscle fatigue occurs more rapidly with greater loads; therefore, overexertion and repetitive tasks can lead to limb muscle damage. Furthermore, stroke is a prevalent disease among middle-aged and elderly people, with 70%–80% of patients currently unable to live independently due to disability. Modern rehabilitation theory and practice have proven that timely rehabilitation training after a stroke can effectively restore motor function of the affected limb, thereby improving patient satisfaction, reducing potentially high costs associated with long-term care, alleviating social pressure, and conserving social resources.

[0003] To address the above issues and assist human movement, various exoskeleton robots have been developed in the existing technology to enable activities such as standing, walking, climbing stairs, carrying loads, and assisting in rehabilitation training for patients with impaired limb motor function. Currently, exoskeleton robots mainly include rigid exoskeletons and flexible exoskeletons. Rigid exoskeletons have a strong load-bearing capacity, but they are heavy, and the extra weight increases the effort required by the user, especially in the limbs. Moreover, they are less comfortable to wear. Flexible exoskeletons have a moderate load-bearing capacity, but they are lightweight and do not add a significant extra burden to the body. They are also more comfortable to wear and are suitable for assisting with light human movement and rehabilitation training for patients with impaired limb motor function.

[0004] Chinese patent application CN107961139A discloses a pneumatic flexible rehabilitation elbow brace system, comprising: a flexible pneumatic elbow brace, a pressure sensor, a bending sensor, an air pressure sensor, a controller, a drive board, a solenoid valve, and an air reservoir. Its working principle is as follows: the pressure sensor collects the pressure value at the contact point between the non-extendable end face of the flexible pneumatic elbow brace and the underside of the wearer's forearm. When the pressure value exceeds a set maximum contact pressure value, the air inlet is closed and the exhaust port is opened to release air. Otherwise, the air inlet is opened and the exhaust port is closed, allowing compressed air from the air reservoir to enter the air chamber inside the flexible pneumatic elbow brace through the air inlet, causing expansion and deformation, thus bending the elbow brace towards the wearer's elbow joint. The bending sensor collects the bending angle value of the elbow brace and feeds it back to the controller. By controlling the on / off state of the solenoid valve according to the experimentally obtained air pressure-bending relationship, the actual bending angle of the elbow brace is controlled to follow the target bending value.

[0005] Although the aforementioned patent can achieve the goal of controlling the actual bending angle of the elbow to follow the target bending value, it still has the following drawbacks: First, the soft pneumatic elbow of this patent supports the bending change of the elbow and arm by expanding and deforming the internal air chamber. The two ends of the elbow lack rigid support, which is especially ineffective in supporting the arm when it is carrying a load, and cannot effectively reduce muscle fatigue when the arm is under load. Second, this patent can only achieve arm bending support, not lower limb leg bending support, and its function is relatively limited. Third, this patent collects the bending angle value of the elbow through a bending sensor and feeds it back to the controller to control the actual bending angle of the elbow to follow the target bending value. The user needs to actively bend the arm to achieve air inflation support, which is very difficult for patients with impaired limb motor function to use. Summary of the Invention

[0006] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a pneumatic soft joint rehabilitation robot that assists in human movement and rehabilitation training, thereby reducing muscle fatigue.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A pneumatic soft joint rehabilitation robot includes an elbow soft actuator, a knee soft actuator, a pneumatic drive assembly, a main controller, and a power supply. The elbow soft actuator assists in arm joint movement and collects arm flexion angle signals and electromyographic signals. The knee soft actuator assists in leg joint movement and collects leg flexion angle signals and electromyographic signals. The pneumatic drive assembly provides charging and discharging pneumatic forces to the elbow and knee soft actuators. The main controller receives signals from the elbow and knee soft actuators, determines the movement intention, and controls the pneumatic drive assembly. The power supply provides power to the entire robot.

[0009] Preferably, the elbow soft actuator includes an arm sleeve; a wedge block A is fixedly connected to each end of the arm sleeve; a foldable airbag A is fixedly connected between the two wedge blocks A; an arm support plate is fixedly connected to the bottom of each of the two wedge blocks A, and the arm support plate is fixed to the outer surface of the arm sleeve; a curvature sensor A and an electromyography signal acquisition module A are provided on the inner side of the arm sleeve;

[0010] The knee soft actuator includes a leg sleeve; a wedge-shaped block B is fixedly connected to each end of the leg sleeve, and a foldable airbag B is fixedly connected between the two wedge blocks B; a leg support plate is fixedly connected to the bottom of each of the two wedge blocks B, and the leg support plate is fixed to the outer surface of the leg sleeve; a flexion sensor B and an electromyography (EMG) signal acquisition module B are provided on the inner side of the leg sleeve; a pneumatic drive assembly is connected to the inner cavities of the foldable airbag A and the foldable airbag B through air ducts; the main controller is electrically connected to the power supply, the pneumatic drive assembly, the flexion sensor A, the flexion sensor B, the EMG signal acquisition module A, and the EMG signal acquisition module B.

[0011] Preferably, the pneumatic drive assembly includes an air pump, an air reservoir, a connector, and a solenoid valve; the air pump is connected to the air reservoir via an air guide pipe; the air reservoir is connected to the connector via an air guide pipe; the connector is connected to the solenoid valve via an air guide pipe; and the solenoid valve is connected to the inlet and outlet ports of the foldable airbag A and the foldable airbag B via an air guide pipe.

[0012] Preferably, it also includes a back box; the air pump, air storage cylinder, solenoid valve, main controller and power supply are installed in the back box.

[0013] Preferably, the foldable airbag A and foldable airbag B are equipped with air pressure sensors, which are electrically connected to the main controller.

[0014] Preferably, the arm sleeve has adjustment straps A at both ends and a silicone layer A fixedly disposed on the inner side of the arm sleeve; the leg sleeve has adjustment straps B at both ends and a silicone layer B fixedly disposed on the inner side of the leg sleeve.

[0015] Preferably, it also includes a Bluetooth module electrically connected to the main controller.

[0016] Preferably, it also includes a voice control module electrically connected to the main controller.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] (1) The present invention achieves the driving of arm and leg bending movements by inflating and deflating the elbow soft actuator and the knee soft actuator. The elbow soft actuator and the knee soft actuator adopt a hybrid design of soft and hard components, so that the elbow soft actuator and the knee soft actuator can achieve the same torque output as the soft actuator of the same size under the same pressure, while having a faster reaction time, thereby realizing the assistance of human movement and rehabilitation training, effectively reducing muscle fatigue, and reducing the risk of muscle injury during human movement and training.

[0019] (2) The present invention collects electromyographic signals of the patient's arms and legs in real time through an electromyographic signal acquisition device, and performs signal amplification and filtering. The processed signal is sent to the main controller. The main controller determines the patient's intention to move through the signal, and then controls the pneumatic drive component to inflate or deflate the elbow soft brake and knee soft actuator. The elbow soft brake and knee soft actuator assist the user in performing joint adduction / abduction and other movements through inflation and deflation. The device is precisely controlled and can accurately perform the user's expected movements, thereby efficiently assisting the user in performing limb movements and limb rehabilitation training. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the elbow soft actuator of the present invention.

[0022] Figure 3 This is a partial cross-sectional view of the elbow soft actuator of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the knee soft actuator of the present invention.

[0024] Figure 5 This is a partial cross-sectional view of the knee soft actuator of the present invention.

[0025] Figure 6 This is a schematic diagram of the internal structure of the back box of the present invention.

[0026] Figure 7 This is a block diagram illustrating the working principle of the present invention.

[0027] in:

[0028] 1. Elbow soft actuator; 11. Arm sleeve; 12. Foldable airbag A; 13. Wedge block A; 14. Arm support plate; 15. Adjustable strap A; 16. Bending sensor A; 17. Silicone layer A; 18. Electromyography signal acquisition module A; 2. Knee soft actuator; 21. Leg sleeve; 22. Foldable airbag B; 23. Wedge block B; 24. Leg support plate; 25. Adjustable strap B; 26. Bending sensor B; 27. Silicone layer B; 28. Electromyography signal acquisition module B; 3. Pneumatic drive assembly; 31. Air pump; 32. Air cylinder; 33. Connector; 34. Solenoid valve; 35. Air duct; 4. Back box; 5. Power supply; 6. Main controller. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] like Figures 1 to 5As shown, a pneumatic soft joint rehabilitation robot includes an elbow soft actuator 1, a knee soft actuator 2, a pneumatic drive assembly 3, a main controller 6, and a power supply 5. The elbow soft actuator 1 includes an arm sleeve 11, with a wedge block A13 fixedly connected to each end of the arm sleeve 11. A foldable airbag A12 is fixedly connected between the two wedge blocks A13. An arm support plate 14 is fixedly connected to the bottom of each of the two wedge blocks A13. The arm support plate 14 is fixed to the outer surface of the arm sleeve 11 and is a curved plate that conforms to the arm. A bending degree sensor A16 and an electromyography signal acquisition module A18 are provided on the inner side of the arm sleeve 11. The knee soft actuator 2 includes a leg sleeve 21, with a wedge block A13 fixed to each end of the leg sleeve 21. A wedge block B23 is fixedly connected to the two wedge blocks B23, and a foldable airbag B22 is fixedly connected between the two wedge blocks B23. A leg support plate 24 is fixedly connected to the bottom of each of the two wedge blocks B23. The leg support plate 24 is fixed to the outer surface of the leg sleeve 21 and is a curved plate that fits the leg. A curvature sensor B26 and an electromyography signal acquisition module B28 are provided on the inner side of the leg sleeve 21. The pneumatic drive assembly 3 is connected to the inner cavity of the foldable airbag A12 and the foldable airbag B22 through the air duct 35. The main controller 6 is electrically connected to the power supply 5, the pneumatic drive assembly 3, the curvature sensor A16, the curvature sensor B26, the electromyography signal acquisition module A18, and the electromyography signal acquisition module B28.

[0031] Among them, there are two elbow soft actuators 1, which are respectively worn on the two elbows through arm sleeves 11 during use. There are two knee soft actuators 2, which are respectively worn on the two knees through leg sleeves 21 during use. The folding airbags A12 and B22 are both made of flexible material with an origami-like structure, and are fan-shaped. Each of them has an air storage chamber inside, which is inflated and deflated through air inlets and outlets to achieve the folding and telescopic function. The arm sleeves 11 and leg sleeves 21 are both made of elastic textile material; wedge block A13, arm support Plate 14, wedge block B23, and leg support plate 24 are all made of rigid materials. They not only support the inflatable foldable airbags A12 and B22, thereby driving changes in the bending angle of the arms and legs, but also reduce the extension stroke of foldable airbags A12 and B22 and the inflation volume required for driving, thus speeding up the inflation process. This hybrid design using soft and rigid components enables the elbow soft actuator 1 and knee soft actuator 2 to achieve the same torque output as soft actuators of the same size under the same pressure, while having a faster response time.

[0032] Both the electromyography (EMG) signal acquisition module A18 and the EMG signal acquisition module B28 include dry electrodes, signal amplifiers, and filters. The dry electrodes are attached to the skin surface of the patient's arm or leg to collect EMG signals from the patient's forearm. Dry electrodes have strong tolerance for the location of EMG signal generation, but the amplitude of the collected EMG signals is relatively small and mixed with various interference signals. Therefore, the original signals are processed by signal amplifiers and filters to obtain usable signals, and then the EMG signals are transmitted to the main controller 6. The main controller 6 determines the patient's intention to move based on the signals collected by the EMG acquisition modules, and then controls the pneumatic drive assembly 3 to inflate or deflate the elbow soft actuator 1 and the knee soft actuator 2. The flexion sensor A16 and the flexion sensor B26 are used to measure the flexion angle of the arm and leg, respectively. The main controller 6 controls the ventilation to the two foldable airbags A12 and B22 according to the relationship between the set actual flexion angle and the air pressure. The power supply 5 uses a lithium battery, which mainly powers the pneumatic drive assembly 3 and the main controller 6.

[0033] Preferred, refer to Figure 6 As shown, the pneumatic drive assembly 3 includes an air pump 31, an air cylinder 32, a connector 33, and a solenoid valve 34. The air pump 31 is connected to the air cylinder 32 through an air guide pipe 35. The air cylinder 32 is connected to the connector 33 through an air guide pipe 35. The connector 33 is provided with four sub-ports. Each sub-port of the connector 33 is connected to a solenoid valve 34 through an air guide pipe 35. The four solenoid valves 34 are respectively connected to the inlet and outlet ports of two foldable airbags A12 and two foldable airbags B22 through air guide pipes 35.

[0034] In this embodiment, the present invention also includes a back box 4, which contains an air pump 31, an air storage cylinder 32, a solenoid valve 34, a main controller 6, and a power supply 5. By integrating the air pump 31, the air storage cylinder 32, the solenoid valve 34, the main controller 6, and the power supply 5 into the back box 4, and by wearing the back box 4 on the human body through a shoulder strap, the portability of the device is effectively improved.

[0035] In this embodiment, air pressure sensors are installed inside foldable airbags A12 and B22, and these sensors are electrically connected to the main controller 6. The air pressure sensors collect the air pressure values ​​inside foldable airbags A12 and B22 and feed them back to the main controller 6. The main controller 6 controls the airflow of the solenoid valve 34 to maintain the air pressure inside foldable airbags A12 and B22 within a safe threshold, thereby ensuring the safety of the operation.

[0036] In this embodiment, the arm sleeve 11 has adjustment straps A15 at both ends, and a silicone layer A17 is fixedly provided on the inner side of the arm sleeve 11. The leg sleeve 21 has adjustment straps B25 at both ends, and a silicone layer B27 is fixedly provided on the inner side of the leg sleeve 21. The silicone layers A17 and B27 fit snugly against the skin of the limb, effectively increasing the friction with the skin and preventing the arm sleeve 11 and leg sleeve 21 from falling off. They also have a shock-absorbing effect, increasing wearing comfort. At the same time, the two ends of the arm sleeve 11 are fixed to the arm by the adjustment straps A15, and the two ends of the leg sleeve 21 are fixed to the leg by the adjustment straps B25, further securing the arm sleeve 11 and leg sleeve 21 and preventing them from falling off.

[0037] In this embodiment, the invention also includes a Bluetooth module electrically connected to the main controller 6. The Bluetooth module enables real-time communication with external applications and systems to record training-related data, making it more convenient for users and improving training efficiency.

[0038] In this embodiment, the invention also includes a voice control module electrically connected to the main controller 6. The voice control module recognizes speech, and the recognized voice commands are sent to the main controller 6. The main controller 6 then controls the robot to perform specified movements, which helps improve the efficiency of human-computer interaction.

[0039] It should be noted that the air pump 31, air storage cylinder 32, solenoid valve 34, main controller 6, power supply 5, curvature sensor A16, electromyography signal acquisition module A18, curvature sensor B26, electromyography signal acquisition module B28, and air pressure sensor are all commercially available finished products.

[0040] Reference Figure 7As shown, during operation, the air pump 31 is turned on to inflate the air storage cylinder 32, storing and maintaining compressed gas at a set pressure value. Then, the electromyography (EMG) signals from the patient's arm and leg are acquired in real time by the EMG signal acquisition modules A18 and B28, and the signals are amplified and filtered. The processed signals are sent to the main controller 6. The main controller 6 uses these signals to determine the patient's intention to move and controls the opening and closing of the solenoid valve 34 to inflate or deflate the elbow soft actuator 1 or knee soft actuator 2. The flexion sensors A16 and B26 measure the flexion angles of the arm and leg. The main controller 6 controls the flow of air based on the relationship between the set actual flexion angle and the air pressure. The airflow to the two foldable airbags A12 and B22 allows the elbow soft actuator 1 or knee soft actuator 2 to assist the user in performing elbow or knee adduction / abduction movements through internal inflation and deflation. Air pressure sensors collect the air pressure values ​​inside the elbow and knee soft actuators 1 and 2 and feed them back to the main controller 6, controlling the inflation and deflation pressures within safe thresholds. The Bluetooth module communicates in real-time with external applications and systems, outputting and recording training data. Users can view these records via a mobile application. When voice control is required, the voice control module recognizes the voice and sends the recognized voice command to the main controller 6, which then controls the robot to execute the specified movements.

Claims

1. A pneumatic soft joint rehabilitation robot, characterized in that, The robot includes an elbow soft actuator (1), a knee soft actuator (2), a pneumatic drive assembly (3), a main controller (6), and a power supply (5). The elbow soft actuator (1) is used to assist the movement of the arm joint and collect the arm bending angle signal and electromyographic signal. The knee soft actuator (2) is used to assist the movement of the leg joint and collect the leg bending angle signal and electromyographic signal. The pneumatic drive assembly (3) is used to provide charging and discharging pneumatic force to the elbow soft actuator (1) and the knee soft actuator (2). The main controller (6) is used to receive signals from the elbow soft actuator (1) and the knee soft actuator (2), determine the action intention, and control the pneumatic drive assembly (3) to work. The power supply (5) is used to power the entire robot.

2. The pneumatic soft joint rehabilitation robot as described in claim 1, characterized in that, The elbow soft actuator (1) includes an arm sleeve (11); a wedge block A (13) is fixedly connected to each end of the arm sleeve (11); a foldable airbag A (12) is fixedly connected between the two wedge blocks A (13); an arm support plate (14) is fixedly connected to the bottom of each of the two wedge blocks A (13), and the arm support plate (14) is fixed to the outer surface of the arm sleeve (11); a bending degree sensor A (16) and an electromyography signal acquisition module A (18) are provided on the inner side of the arm sleeve (11). The knee soft actuator (2) includes a leg sleeve (21); a wedge block B (23) is fixedly connected to each end of the leg sleeve (21), and a foldable airbag B (22) is fixedly connected between the two wedge blocks B (23); a leg support plate (24) is fixedly connected to the bottom of the two wedge blocks B (23), and the leg support plate (24) is fixed on the outer surface of the leg sleeve (21); a bending degree sensor B (26) and an electromyography signal acquisition module B (28) are provided on the inner side of the leg sleeve (21); the pneumatic drive assembly (3) is connected to the inner cavity of the foldable airbag A (12) and the foldable airbag B (22) through the air duct (35); the main controller (6) is electrically connected to the power supply (5), the pneumatic drive assembly (3), the bending degree sensor A (16), the bending degree sensor B (26), the electromyography signal acquisition module A (18), and the electromyography signal acquisition module B (28).

3. The pneumatic soft joint rehabilitation robot as described in claim 2, characterized in that, The pneumatic drive assembly (3) includes an air pump (31), an air storage cylinder (32), a tap (33), and a solenoid valve (34); the air pump (31) is connected to the air storage cylinder (32) through an air guide pipe (35); the air storage cylinder (32) is connected to the tap (33) through an air guide pipe (35); the tap (33) is connected to the solenoid valve (34) through an air guide pipe (35); the solenoid valve (34) is connected to the inlet and outlet of the foldable airbag A (12) and the foldable airbag B (22) through an air guide pipe (35).

4. The pneumatic soft joint rehabilitation robot as described in claim 3, characterized in that, It also includes a back box (4); the air pump (31), air storage cylinder (32), solenoid valve (34), main controller (6) and power supply (5) are installed in the back box (4).

5. A pneumatic soft joint rehabilitation robot as described in claim 2, characterized in that, The foldable airbag A (12) and foldable airbag B (22) are equipped with air pressure sensors, which are electrically connected to the main controller (6).

6. The pneumatic soft joint rehabilitation robot as described in claim 2, characterized in that, The arm sleeve (11) has adjustment straps A (15) at both ends, and a silicone layer A (17) is fixedly provided on the inner side of the arm sleeve (11); the leg sleeve (21) has adjustment straps B (25) at both ends, and a silicone layer B (27) is fixedly provided on the inner side of the leg sleeve (21).

7. The pneumatic soft joint rehabilitation robot as described in claim 1, characterized in that, It also includes a Bluetooth module electrically connected to the main controller (6).

8. The pneumatic soft joint rehabilitation robot as described in claim 1, characterized in that, It also includes a voice control module that is electrically connected to the main controller (6).

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