Air bag-line driving matched spine malformation orthosis for old people and control method

Abstract

The invention discloses an air bag-line driving matched spine malformation orthosis for old people and a control method, the air bag-line driving matched spine malformation orthosis comprises an orthosis shell, an air bag, a line driving assembly, a driving line, an air pipe and an air pump, a micro pressure sensor is adopted to collect tension data of the driving line, and the actual tension is converted in combination with the mechanical multiplying power of a pulley block; calculating by adopting a discrete admittance model to obtain an expected motor rotation angle, controlling a servo motor to adjust the exogenous orthodontic force of the orthosis, verifying the actual tensile force and the expected tensile force again, monitoring the actual pressure in each air bag through an air pressure sensor, carrying out moving average filtering on the actual pressure to obtain smooth air pressure, calculating air pressure deviation to generate an inflation and deflation instruction, and carrying out inflation and deflation. And the electromagnetic air valve is controlled to accurately inflate or deflate the air bag to keep the local contact pressure stable. According to the method, coordinated adjustment of overall and local correction force can be achieved, and the wearing comfort and safety are remarkably improved while correction effectiveness is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, and in particular to an airbag-line driven orthopedic device for spinal deformities in the elderly and its control method. Background Technology

[0002] Spinal deformities in the elderly are becoming increasingly prevalent with an aging population, often accompanied by chronic pain, postural changes, and functional limitations. Orthotics can alleviate pain and improve postural stability in the short term, and in some cases, slow the progression of deformities. Furthermore, a significant proportion of surgeons tend to prescribe orthotics after spinal surgery to promote fusion or prevent complications such as proximal junctional kyphosis. Therefore, developing efficient, comfortable, and intelligent spinal orthotics has significant clinical and social value for elderly health management.

[0003] With the development of drive and sensing technologies, intelligent spinal orthotics have gradually become a research hotspot, but the following technical shortcomings still exist: First, the drive structure is flawed; a single drive method cannot simultaneously meet the dual requirements of overall structural support and local surface adaptation. Second, there are limitations in size and weight; existing active drive devices are bulky and heavy, causing additional burden on elderly patients during long-term wear and exacerbating muscle fatigue. Third, there are safety defects; existing electric drives lack mechanical force abrupt change isolation mechanisms, posing a risk of skin chafing and bone impact due to excessively rapid tightening. Finally, control precision is poor; there is a lack of personalized pressure distribution control strategies tailored to the complex surface characteristics of elderly patients, making it difficult to accurately implement the three-point force correction principle. Based on the above background, this invention proposes an airbag-line drive combined spinal deformity orthotics for the elderly and its control method, including an orthotics shell, an airbag system, a line drive component, an air pump, a sensor array, and a main control unit. This achieves coordinated adjustment of overall and local corrective forces, significantly improving wearing comfort and safety while ensuring corrective effectiveness. Summary of the Invention

[0004] The purpose of this invention is to provide an airbag-line driven orthopedic device for spinal deformities in the elderly and a control method thereof.

[0005] To achieve the above objectives, the present invention is implemented according to the following technical solution: This invention includes the following steps: A miniature pressure sensor is used to collect drive line tension data. The actual tension force is calculated by combining the mechanical ratio of the pulley system. The actual tension force and the desired tension force are input into the discrete admittance model to obtain the desired motor rotation angle. The servo motor is controlled according to the desired motor rotation angle to adjust the external corrective force of the orthosis, and the actual tension force and the desired pull force are verified again. The actual pressure inside each airbag is monitored by a pressure sensor. The actual pressure is then filtered by a moving average to obtain a smooth pressure. The pressure deviation is then calculated by combining the target pressure. Based on the air pressure deviation, an inflation / deflation command is generated. Based on the inflation / deflation command, the electromagnetic valve is controlled to perform precise inflation or deflation of the airbag to maintain stable local contact pressure.

[0006] Furthermore, the method for obtaining the desired motor rotation angle includes: The actual tension force is calculated based on the drive line tension data and the pulley block mechanical ratio. The tension deviation is then calculated from the actual tension force and the desired tension force, expressed as follows: ; in For tension deviation, For the desired tension, This is the actual tension force; The virtual acceleration is calculated based on the tension deviation and the admittance equation parameters. The virtual velocity is updated based on the virtual acceleration, and the virtual position is updated based on the virtual velocity. The admittance equation parameters include the virtual stiffness coefficient, damping coefficient, and inertia coefficient. The expressions for the virtual acceleration, the virtual velocity, and the virtual position are: ; ; in For virtual acceleration, The damping coefficient is... This is the virtual stiffness coefficient. The inertia coefficient, For virtual initial velocity, This is a virtual starting position. For virtual speed, This is a virtual location. This refers to the time of each system loop. The updated virtual position is mapped to the desired motor rotation angle.

[0007] Furthermore, the method for generating inflation / deflation commands includes the following steps: The actual pressure inside each airbag is monitored by a pressure sensor. A smoothed pressure is obtained by filtering the actual pressure using a moving average. The pressure deviation is then calculated by combining this smoothed pressure with the target pressure. The expression is as follows: ; ; in To smooth out air pressure, For smoothing filtering functions, This is the length of the filtering window. This is the actual pressure. Due to air pressure deviation, Target air pressure; An inflation command is generated when the air pressure deviation is greater than the inflation deviation threshold, and a deflation command is generated when the air pressure deviation is less than the deflation deviation threshold. When the air pressure deviation is between the inflation deviation threshold and the deflation deviation threshold, the existing airbag air pressure is maintained.

[0008] Secondly, an airbag-wire driven orthosis for spinal deformities in the elderly includes: an orthosis shell, an airbag, a wire drive assembly, a drive wire, an air tube, and an air pump; the airbag is fixed to the inner ring of the orthosis shell and attached to the surface of the patient's torso; the wire drive assembly is fixed to both sides of the opening of the outer ring of the orthosis shell; the air tube is tightly attached to the orthosis; the air pump is fixed to the outer ring of the orthosis shell; the air pump is connected to the airbag through the air tube and is used to pump air into the airbag to keep it inflated, thereby generating compression correction on the subject's torso.

[0009] Furthermore, the line drive assembly includes a passive side unit and a drive side unit; The passive side unit is fixed to the right side of the opening on the outer ring of the orthodontic housing, and includes a top constraint plate, a passive side base plate, a limiting rivet, and a guide pulley on the opposite side; the guide pulley on the opposite side is fixed to the passive side base plate through a pulley shaft and is used to change the direction of the drive line. The moving side unit is fixed to the left side of the outer ring opening of the orthotine housing, and includes a housing, a drive side base plate, a top limiting cover, a worm gear shaft, a forward sealing cover, a fixing pin, a force transmission frame, a pulley limiting shell, a main side guide pulley, a worm shaft, a worm, a worm wheel, a take-up device, a miniature pressure sensor, a limiting rivet, and a drive motor; the take-up device is coaxially fixed with the worm wheel and winds up the drive line as the worm wheel rotates.

[0010] Furthermore, the line drive assembly adopts a multi-stage pulley block rewinding structure, and the rewinding path is formed by the drive line reciprocating through the passive side unit and the drive side unit.

[0011] Furthermore, the worm and the worm wheel are fixed by the worm shaft and the worm wheel shaft respectively, and mesh vertically in space to form a single-stage reduction transmission structure with a transmission ratio of 40.

[0012] Furthermore, the main guide pulley is disposed within the pulley limiting shell, and together with the opposite guide pulley, forms a two-stage pulley force-enhancing structure.

[0013] The beneficial effects of this invention are: This invention relates to an airbag-wire driven orthopedic device for spinal deformities in the elderly and its control method. Compared with the prior art, this invention has the following technical advantages: This invention solves the technical contradiction that a single drive cannot simultaneously provide overall structural support and precise local adjustment by combining the application of airbags (local flexible drive) and line drive (overall rigid drive), thus achieving coordinated control of overall and local corrective forces. This invention uses a two-stage force amplification structure composed of a worm gear and a multi-stage pulley system, with a transmission ratio of 40:1. Combined with the pulley system multiplication effect, the system can use a low-power, small-size servo motor to generate high traction force, significantly reducing the size and weight of the drive module and alleviating the burden on elderly patients. This invention utilizes the superposition effect of high reduction ratio and pulley ratio of pulley system to form a kinematic safety mechanism of high-speed input and low-speed response. Even if the control system responds quickly or the motor runs at full speed, the pressure action reflected on the human body remains slow and smooth, eliminating the risk of sudden force change from the physical structure level. This invention is based on the independent airbag control logic of the three-point force correction strategy. It flexibly adjusts the airbag placement and pressure distribution according to the specific deformity morphology (scoliosis / kyphosis) of elderly patients to achieve individualized pressure distribution control, effectively reduce the concentration effect of traditional rigid orthotics in high stress areas, and significantly improve wearing comfort. Attached Figure Description

[0014] Figure 1 This is a flowchart of the steps of a control method for an airbag-line driven orthotic device for spinal deformities in the elderly according to the present invention. Figure 2 This is a front view of the structure of an airbag-line driven orthotic device for spinal deformity in the elderly according to the present invention; Figure 3 This is a top view of the structure of an airbag-line driven orthotic device for spinal deformities in the elderly according to the present invention; Figure 4 This is a side view of the structure of an airbag-line driven orthotic device for spinal deformities in the elderly according to the present invention; Figure 5 This is a side view of the linear drive structure of an airbag-linear drive orthopedic device for spinal deformity in the elderly according to the present invention. Figure 6 This is a side view of the passive side unit of the line drive structure of an airbag-line drive orthopedic device for spinal deformity in the elderly according to the present invention; Figure 7 This is a top anatomical view of the passive side unit of the line drive structure of an airbag-line drive coordinated orthopedic device for spinal deformity in the elderly according to the present invention. Figure 8 This is a front anatomical view of the drive side unit of the line drive structure of an airbag-line drive coordinated orthopedic device for spinal deformity in the elderly according to the present invention. Figure 9 This is a front anatomical view of the drive side unit of the line drive structure of an airbag-line drive coordinated orthopedic device for spinal deformity in the elderly according to the present invention. Figure 10 This is a side view anatomical diagram of the drive side unit of the airbag-line drive combined orthopedic device for spinal deformity in the elderly according to the present invention. Figure 11 This is a schematic diagram of the winding path of the line drive structure of an airbag-line drive coordinated orthopedic device for spinal deformity in the elderly according to the present invention. Figure 12 This is a hardware driving logic diagram of an airbag-line driven orthopedic device for spinal deformity in the elderly according to the present invention. In the diagram: 1-Orthopedic housing; 2-Airbag; 3-Wire drive assembly; 31-Passive side unit; 3101-Top constraint plate; 3102-Passive side base plate; 3103-Limiting rivet; 3104-Opposite side guide pulley; 32-Drive side unit; 3201-Housing; 3202-Drive side base plate; 3203-Top limiting cover; 3204-Worm gear shaft; 3205-Forward sealing cover; 3206-Fixing pin; 3207-Force transmission frame; 3208-Pulley limiting shell; 3209-Main side guide pulley; 3210-Worm shaft; 3211-Worm; 3212-Worm gear; 3213-Wire take-up device; 3214-Miniature pressure sensor; 3215-Limiting rivet; 3216-Drive motor; 4-Drive wire; 5-Air tube; 6-Air pump. Detailed Implementation

[0015] The present invention will be further described below through specific embodiments. The illustrative embodiments and descriptions herein are used to explain the present invention, but are not intended to limit the present invention.

[0016] The present invention discloses a control method for an airbag-wire driven orthotic device for spinal deformities in the elderly, comprising the following steps: like Figure 1 As shown, this embodiment includes the following steps: A miniature pressure sensor is used to collect drive line tension data. The actual tension force is calculated by combining the mechanical ratio of the pulley system. The actual tension force and the desired tension force are input into the discrete admittance model to obtain the desired motor rotation angle. The servo motor is controlled according to the desired motor rotation angle to adjust the external corrective force of the orthosis, and the actual tension force and the desired pull force are verified again. The actual pressure inside each airbag is monitored by a pressure sensor. The actual pressure is then filtered by a moving average to obtain a smooth pressure. The pressure deviation is then calculated by combining the target pressure. Based on the air pressure deviation, an inflation / deflation command is generated, and based on the inflation / deflation command, the electromagnetic valve is controlled to perform precise inflation or deflation of the airbag to maintain stable local contact pressure. In actual evaluation, after the system is powered on, the main control unit first initializes and enables external interrupt services to process multiple data interactions in parallel, such as... Figure 12 As shown, in terms of online drive control, the miniature pressure sensor collects the tension data of the drive rope in real time through the RS-485 communication interface, and the servo motor feeds back the status through the CAN bus. Both use interrupt reception to transmit information to the microcontroller in a timely manner to ensure the real-time performance of data processing. The microcontroller runs a closed-loop admittance control algorithm. First, it converts the collected sensor values ​​into the actual tension of the drive rope by combining them with the mechanical ratio of the pulley group, and compares them with the system's preset expected tension. The control system uses the preset admittance equation parameters to calculate the tension deviation as the input variable to solve the discrete admittance model. In the discrete admittance model, the virtual initial velocity and virtual initial position are both 0 in the initial stage. Subsequent cycles take the virtual velocity and virtual position calculated by the previous admittance model. The time of each cycle of the system can be set freely. Finally, the desired motor rotation angle required to eliminate the deviation is determined. This position command is sent to the motor via the CAN bus, and the motor's built-in PID controller performs precise angle adjustment to achieve compliant control of the orthodontic external corrective force. Meanwhile, the airbag serves as the internal driving unit of the orthopedic device. The system monitors the air pressure value inside each airbag through an air pressure sensor, performs a moving average filter on the air pressure value to obtain the actual pressure inside each airbag, calculates the air pressure deviation, generates an inflation command when the air pressure deviation is greater than the inflation deviation threshold, generates an deflation command when the air pressure deviation is less than the deflation deviation threshold, and maintains the existing airbag air pressure when the air pressure deviation is between the inflation deviation threshold and the deflation deviation threshold. The corresponding control quantity is calculated and a PWM (Pulse Width Modulation) signal is generated to drive the air pump. By adjusting the opening time of the solenoid valve connected to the air pump, the airbag is precisely inflated or deflated, thereby ensuring that the local pressure at the human-machine interface is always maintained within the set stable range. Ultimately, the macroscopic structural support provided by the linear drive and the microscopic pressure regulation provided by the airbag work synchronously under the coordination of the control system, achieving constant pressure control and dynamic adaptation of the orthosis for elderly patients with spinal deformities through internal and external collaboration.

[0017] Secondly, such as Figure 2-4As shown, an airbag-wire driven orthosis for elderly spinal deformities comprises an orthosis shell 1, an airbag 2, a wire drive assembly 3, a drive wire 4, an air tube 5, and an air pump 6. The airbag 2 is fixed to the inner ring of the orthosis shell 1 and attached to the surface of the patient's torso. The wire drive assembly 3 is fixed to both sides of the opening on the outer ring of the orthosis shell 1. The air tube 5 is tightly attached to the orthosis shell 1. The air pump 6 is fixed to the outer ring of the orthosis shell 1. The air pump 6 is connected to the airbag 2 through the air tube 5 and is used to pump air into the airbag 2 to keep it inflated, thereby generating compression correction on the subject's torso. like Figure 5-10 As shown, the line drive assembly 3 includes two parts: a passive side unit 31 and a drive side unit 32. The passive side unit 31 is fixed to the right side of the outer ring opening of the orthotine housing 1, and includes a top constraint plate 3101, a passive side base plate 3102, a limiting rivet 3103, and a opposite side guide pulley 3104; the opposite side guide pulley 3104 is fixed to the passive side base plate 3102 through a pulley shaft and is used to change the direction of the drive line 4. The drive-side unit 32 is fixed to the left side of the outer ring opening of the orthotine housing 1, and includes a housing 3201, a drive-side base plate 3202, a top limiting cover 3203, a worm gear shaft 3204, a forward sealing cover 3205, a fixing pin 3206, a force transmission frame 3207, a pulley limiting shell 3208, a main side guide pulley 3209, a worm shaft 3210, a worm 3211, a worm wheel 3212, a take-up device 3213, a miniature pressure sensor 3214, a limiting rivet 3215, and a drive motor 3216; the take-up device 3213 is coaxially fixed with the worm wheel 3212 and winds up the drive line 4 as the worm wheel 3212 rotates. The line drive assembly 3 adopts a multi-stage pulley block rewinding structure, and the rewinding path is connected by the drive line 4 reciprocatingly winding through the passive side unit 31 and the drive side unit 32. Repeated path as follows Figure 11 As shown, one end of the drive line 4 is fixed and wound around the upper cylindrical region of the take-up coil 3213 in the drive-side unit 32. After being led out from the take-up coil 3213, it reciprocates in an S-shape between the drive-side unit 32 and the passive-side unit 31. Specifically, the drive line 4 alternately passes around multiple opposite guide pulleys 3104 on the passive-side unit 31 and multiple main guide pulleys 3209 on the drive-side unit 32. After passing through the force transmission frame 3207 that fixes the miniature pressure sensor 3214 in the drive-side unit 32 and undergoing multiple folding and force amplification, the end of the drive line 4 finally returns to the lower cylindrical region of the take-up coil 3213 in the drive-side unit 32. Set the worm gear module Pressure angle 20°, number of worm threads Pitch circle diameter Number of teeth on the worm gear worm gear pitch circle diameter Through calculation, the center distance of the worm gear is... The transmission ratio of the worm gear is calculated as follows: ; The worm 3211 and worm wheel 3212 are fixed by the worm shaft 3210 and the worm wheel shaft 3204 respectively, and are perpendicularly meshed in space to form a single-stage reduction transmission structure with a transmission ratio of 40. The worm wheel and worm structure (3211-3212) is configured with a reduction ratio of 40:1. Utilizing its reverse self-locking characteristic, it can maintain the tension of the drive line 4 in the power-off state, and can maintain the corrective posture without the need for an additional braking device, thereby reducing system energy consumption. The main side guide pulley 3209 is disposed inside the pulley limiting shell 3208, and together with the opposite side guide pulley 3104, it forms a two-stage pulley force-increasing structure. As described above, the transmission system of the line drive assembly 3 is configured with a worm gear structure with a transmission ratio of 40 as the first-stage transmission, and a multi-pulley force amplification structure (3104-3209) as the second-stage transmission. This architecture achieves the step-by-step amplification of driving torque and the flexible reduction of action speed through precise mechanical transmission ratio design. The high torque amplification effect allows the system to generate high traction force to compress the orthosis at the output end with only a low-power, small-sized servo motor, reducing the energy consumption and heat generation of the motor, achieving lightweight and miniaturization of the entire drive module, and reducing the burden on elderly patients when wearing it.

[0018] Based on the combined effect of the high reduction ratio and the pulley system's moving pulley ratio, the system achieves a kinematic safety mechanism of high-speed input and low-speed response. The servo motor operates at a high speed when dynamically adjusting the corrective force. Through the double-layer reduction of the worm gear and pulley system, the linear contraction speed reflected on the drive rope and the resulting pressure action of the orthotic shell on the human body are slow and smooth. This eliminates the risk of sudden force changes from a mechanical principle perspective. Even under extreme conditions such as rapid response of the control system or full-speed operation of the motor, the orthotic pressure on the torso always maintains a gradual and gentle characteristic, avoiding skin chafing, bone impact, or psychological panic in the elderly caused by excessive tightening. From a physical structure perspective, this ensures absolute safety and comfort during the wearing and treatment process.

[0019] Furthermore, this invention also provides an example of the entire orthodontic force adjustment process, such as... Figure 12 As shown: In actual operation, the adjustment of the corrective force of the orthotic system first relies on the macroscopic control of the line drive unit. After the system is started, the motor on the outside of the orthosis pulls the worm gear structure, and through the mechanical transmission of the multi-pulley force amplification structure, the linear traction force of the drive rope is converted into a circumferential constraint force acting on the human abdominal cavity and torso. During this process, the miniature pressure sensor integrated on the drive path monitors the force state of the drive rope in real time and feeds the signal back to the control unit. The control unit adopts a closed-loop admittance control strategy, which simulates the contact interface between the orthosis and the human body as a physical system with specific stiffness and damping. The motor output is dynamically adjusted according to the deviation between the feedback force and the target force, thereby maintaining a constant base pressure on the contact interface between the orthosis shell and the torso. This control method can effectively buffer external impacts and ensure the stability and safety of the output force. Meanwhile, in order to adapt to the complex body surface characteristics of elderly patients, the multi-airbag independent adjustment unit inside the system works in parallel. The pathogenesis of spinal deformities in the elderly is diverse, mainly including scoliosis and sagittal kyphosis. This embodiment is based on the three-point force correction strategy, with a correction airbag set in the scoliosis area and two airbags placed on the opposite side above and below to balance the pressure. For the problem of sagittal kyphosis, an additional correction airbag is added on the back of the orthosis. In actual use, the number and position of the airbags should be flexibly adjusted according to the type and area of ​​the deformity of the subject. Each airbag unit is equipped with a miniature pressure sensor that monitors its internal average pressure in real time and transmits the data to a microcontroller. Based on multi-channel data acquisition and closed-loop control logic, the system compares the real-time feedback signals of each airbag with the target pressure value preset for the patient's spinal deformity. When a pressure deviation is detected, the controller automatically adjusts the opening of the corresponding channel's solenoid valve to inflate or deflate the airbag in a specific area. Through this precise and independent control, the system can maintain the set corrective force level in different contact areas, achieving individualized pressure distribution control while ensuring smooth contact between the orthotic liner and the patient's skin.

[0020] Based on the above two subsystems, this embodiment constructs a collaborative control logic for airbag-linear composite drive. While keeping the admittance control logic of the line drive unit and the independent control logic of the airbag module unchanged, the system coordinates the action levels of the two drive modes through a top-level strategy. The line drive unit is mainly responsible for providing the overall structural support and basic tension required for correction, while the multi-airbag module focuses on local pressure compensation and surface adaptation. The synergistic effect of the two allows the orthosis to effectively apply the overall corrective force while significantly improving its adaptability to complex body surface curves such as kyphosis or scoliosis in the elderly by utilizing the fluid properties of the airbag. This effectively reduces the concentration effect of traditional rigid orthotics in high-stress areas, thereby significantly enhancing the patient's wearing comfort and improving the accuracy of correction. This intelligent orthotic system has the ability to dynamically and adaptively adjust to typical daily movements. When the subject performs movements such as sitting, squatting, standing up, or bending over, the change in trunk shape will cause fluctuations in the pressure at the human-machine interface. The system senses this change in state in real time through the changes in the values ​​of the air pressure sensor and the tension sensor, and triggers the dynamic adjustment mechanism. At this time, the line drive component and the airbag system act synchronously: the line drive unit quickly expands and contracts to adapt to the large range of changes in trunk circumference, while the airbag unit finely adjusts the internal pressure to fill or release local gaps. Through this real-time dual adjustment, the system can keep the pressure at the human-machine interface at a preset stable level, ensuring the continuity and consistency of the corrective effect in various positions.

[0021] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for an airbag-wire driven orthotic device for spinal deformities in the elderly, characterized in that, Includes the following steps: S1. A miniature pressure sensor is used to collect the tension data of the drive line. The actual tension force is calculated by combining the mechanical ratio of the pulley group. The actual tension force and the desired tension force are input into the discrete admittance model to obtain the desired motor rotation angle. S2. Control the servo motor to adjust the external corrective force of the orthosis according to the desired motor rotation angle, and verify the actual tension force and the desired pull force again; S3. Monitor the actual pressure inside each airbag using a pressure sensor, obtain a smoothed pressure by filtering the actual pressure using a moving average, and calculate the pressure deviation by combining it with the target pressure. S4. Generate inflation / deflation commands based on air pressure deviation, and control the solenoid valve to perform precise inflation or deflation of the airbag according to the inflation / deflation commands to maintain stable local contact pressure.

2. The method for controlling an airbag-line driven orthotic device for spinal deformities in the elderly according to claim 1, characterized in that, The method for obtaining the desired motor rotation angle includes: The actual tension force is calculated based on the drive line tension data and the pulley block mechanical ratio. The tension deviation is then calculated from the actual tension force and the desired tension force, expressed as follows: ； in For tension deviation, For the desired tension, This is the actual tension force; The virtual acceleration is calculated based on the tension deviation and the admittance equation parameters. The virtual velocity is updated based on the virtual acceleration, and the virtual position is updated based on the virtual velocity. The admittance equation parameters include the virtual stiffness coefficient, damping coefficient, and inertia coefficient. The expressions for the virtual acceleration, the virtual velocity, and the virtual position are: ； ； ； in For virtual acceleration, The damping coefficient is... This is the virtual stiffness coefficient. The inertia coefficient, For virtual initial velocity, This is a virtual starting position. For virtual speed, This is a virtual location. This refers to the time of each system loop. The updated virtual position is mapped to the desired motor rotation angle.

3. The method for controlling an airbag-wire driven orthotic device for spinal deformities in the elderly according to claim 1, characterized in that, The method for generating inflation / deflation commands includes the following steps: The actual pressure inside each airbag is monitored by a pressure sensor. A smoothed pressure is obtained by filtering the actual pressure using a moving average. The pressure deviation is then calculated by combining this smoothed pressure with the target pressure. The expression is as follows: ； ； in To smooth out air pressure, For smoothing filtering functions, The length of the filter window. This is the actual pressure. Due to air pressure deviation, Target air pressure; An inflation command is generated when the air pressure deviation is greater than the inflation deviation threshold, and a deflation command is generated when the air pressure deviation is less than the deflation deviation threshold. When the air pressure deviation is between the inflation deviation threshold and the deflation deviation threshold, the existing airbag air pressure is maintained.

4. A pneumatic-wire driven orthotic device for spinal deformities in the elderly, used to perform the method according to any one of claims 1-3, characterized in that, include: The orthosis comprises an outer shell, an air bladder, a wire drive assembly, a drive wire, an air tube, and an air pump. The air bladder is fixed to the inner ring of the orthosis outer shell and attached to the surface of the patient's torso. The wire drive assembly is fixed to both sides of the opening on the outer ring of the orthosis outer shell. The air tube is tightly attached to the orthosis. The air pump is fixed to the outer ring of the orthosis outer shell. The air pump is connected to the air bladder through the air tube and is used to pump air into the air bladder to keep it inflated, thereby generating a compressive corrective force on the subject's torso.

5. The airbag-line driven orthopedic device for spinal deformity in the elderly according to claim 4, characterized in that: The line drive assembly includes a passive side unit and a drive side unit; The passive side unit is fixed to the right side of the opening on the outer ring of the orthodontic housing, and includes a top constraint plate, a passive side base plate, a limiting rivet, and a guide pulley on the opposite side; the guide pulley on the opposite side is fixed to the passive side base plate through a pulley shaft and is used to change the direction of the drive line. The moving side unit is fixed to the left side of the outer ring opening of the orthotine housing, and includes a housing, a drive side base plate, a top limiting cover, a worm gear shaft, a forward sealing cover, a fixing pin, a force transmission frame, a pulley limiting shell, a main side guide pulley, a worm shaft, a worm, a worm wheel, a take-up device, a miniature pressure sensor, a limiting rivet, and a drive motor; the take-up device is coaxially fixed with the worm wheel and winds up the drive line as the worm wheel rotates.

6. The airbag-line driven orthopedic device for spinal deformity in the elderly according to claim 4, characterized in that: The line drive assembly adopts a multi-stage pulley block rewinding structure, and the rewinding path is formed by the drive line reciprocating through the passive side unit and the drive side unit.

7. The airbag-line driven orthopedic device for spinal deformity in the elderly according to claim 5, characterized in that: The worm and the worm wheel are fixed by the worm shaft and the worm wheel shaft respectively, and mesh perpendicularly in space to form a single-stage reduction transmission structure with a transmission ratio of 40.

8. The airbag-line driven orthopedic device for spinal deformity in the elderly according to claim 5, characterized in that: The main guide pulley is disposed within the pulley limiting shell, and together with the opposite guide pulley, they form a two-stage pulley force-enhancing structure.

Images