A flexible wearable elbow joint rehabilitation assistive system and its manufacturing method

Abstract

This invention discloses a flexible wearable elbow joint rehabilitation assist system and its manufacturing method. The system includes a driving airbag layer module, a bottom restraint layer module, and an elbow joint bushing module. The driving airbag layer module forms a sealed cavity to store compressed gas. The bottom restraint layer module is used to fix and constrain the driving airbag layer module, causing it to move according to a pre-programmed bending pattern. The driving airbag layer module and the bottom restraint layer module are assembled into a flexible elbow joint actuator using a rapid folding assembly strategy. The elbow joint bushing module is used to constrain the assembled flexible elbow joint actuator and fix it to the forearm and upper arm. This invention solves the problems of insufficient versatility and long iteration cycles of traditional pneumatic flexible actuators through modular component design and rapid folding assembly method, realizing personalized, low-cost, and rapid manufacturing of elbow joint rehabilitation assist.

Description

Technical Field

[0001] This invention belongs to the field of flexible wearable robot technology, specifically relating to a flexible wearable elbow joint rehabilitation assist system and its manufacturing method. Background Technology

[0002] Flexible wearable rehabilitation assistive systems are widely used in the field of limb rehabilitation due to their advantages of comfortable wear and good conformability. Traditional pneumatic flexible actuators are usually manufactured using mold casting or one-piece molding processes, which have the following shortcomings: First, they have poor versatility, as different users have different limb sizes and rehabilitation needs, and customized production requires new molds, resulting in high costs; second, they have long iteration cycles, with cumbersome mold design and processing procedures, making it difficult to quickly respond to changes in personalized needs; third, some one-piece molded actuators have bulky structures, resulting in insufficient fit and affecting the rehabilitation assistive effect. Therefore, there is an urgent need for a flexible elbow joint rehabilitation assistive solution that can be manufactured quickly, adapted to individual needs, and is low-cost. Summary of the Invention

[0003] The main objective of this invention is to overcome the shortcomings and deficiencies of the prior art and propose a flexible wearable elbow joint rehabilitation assist system and its manufacturing method. By using modular component design and rapid folding assembly method, it solves the problems of insufficient versatility and long iteration cycle of traditional pneumatic flexible actuators, realizes personalized customization, rapid manufacturing and low-cost production of elbow joint rehabilitation assist devices, and improves wearing comfort and assist stability.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A flexible wearable elbow joint rehabilitation assistive system includes a driving airbag layer module, a bottom limiting layer module, and an elbow joint bushing module.

[0006] Drive airbag layer module, used to form a sealed cavity to store compressed gas;

[0007] The bottom constraint layer module is used to fix and constrain the airbag layer module, so that it moves in a pre-programmed bending pattern;

[0008] The drive airbag layer module and the bottom restraint layer module are assembled into a flexible elbow joint actuator using a rapid folding assembly strategy.

[0009] Elbow joint bushing module, used to constrain and fix the assembled elbow joint flexible actuator in the position of the human forearm and upper arm.

[0010] This invention also includes a method for manufacturing a flexible wearable elbow joint rehabilitation assistive system, used to manufacture the flexible wearable elbow joint rehabilitation assistive system provided by this invention, comprising the following steps:

[0011] S1. Fabricate the driving airbag layer module; use a thermal polyurethane inner-coated nylon fabric composite material, cut the material, hot-press weld to form an airbag, and seal the airbag.

[0012] S2. Fabricate the bottom limiting layer module; using polypropylene plastic material, the bottom limiting layer module is manufactured by laser cutting according to the pre-designed groove spacing, width, length and quantity.

[0013] S3. A quick folding assembly strategy is adopted to assemble the drive airbag layer module and the bottom restraint layer module into a flexible elbow joint actuator.

[0014] S4. Make the elbow joint liner module; cut cotton-polyester blended fabric according to the user's elbow joint size, make the liner, connect the zipper and sew on the Velcro elastic band.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0016] 1. The system of this invention adopts a rapid folding and assembly strategy, which can complete the system manufacturing in only three steps without the need for complex molds, effectively shortening the product iteration cycle and reducing production costs; the folding parameters of the driving airbag layer and the size of the bushing module can be customized according to user needs, solving the problem of insufficient universality of traditional actuators; the system uses thermal polyurethane inner-coated nylon composite fabric and cotton-polyester blended fabric, combined with a compact folding structure, to improve the system's wearing comfort and fit; the design of the bottom limiting layer can precisely control the airbag inflation direction, ensuring the stability and reliability of rehabilitation assistance and improving the rehabilitation training effect. Attached Figure Description

[0017] Figure 1 This is an overall schematic diagram of the flexible wearable elbow joint rehabilitation assist system of the present invention.

[0018] Figure 2 This is a schematic diagram of the elbow joint flexible actuator in the embodiment.

[0019] Figure 3 This is a schematic diagram of the elbow joint bushing module in the embodiment.

[0020] Figure 4 This is a schematic diagram of the folding configuration parameter analysis in this invention.

[0021] Figure 5 This is a schematic diagram of the rapid folding and assembly strategy in this invention.

[0022] Figure 6 This is a schematic diagram of the flexible wearable elbow joint rehabilitation assist system in the embodiment. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0024] like Figure 1 As shown, a flexible wearable elbow joint rehabilitation assistive system includes a driving airbag layer module, a bottom limiting layer module, and an elbow joint bushing module.

[0025] Drive airbag layer module, used to form a sealed cavity to store compressed gas;

[0026] The bottom constraint layer module is used to fix and constrain the airbag layer module, so that it moves in a pre-programmed bending pattern;

[0027] The drive airbag layer module and the bottom restraint layer module are assembled into a flexible elbow joint actuator using a rapid folding assembly strategy.

[0028] Elbow joint bushing module, used to constrain and fix the assembled elbow joint flexible actuator in the position of the human forearm and upper arm.

[0029] The flexible wearable elbow joint rehabilitation assist system of the present invention solves the problems of insufficient versatility and long iteration cycle of traditional pneumatic flexible actuators through modular component design and rapid folding assembly method;

[0030] The manufacturing method of this flexible wearable elbow joint rehabilitation assistive system includes the following steps:

[0031] S1. Fabrication of the driving airbag layer module; using a thermoplastic polyurethane inner-coated nylon fabric composite material, the material is cut, hot-pressed and welded to form the airbag, and then sealed; specifically:

[0032] Laser cutting technology is used to accurately cut a certain thickness of hot polyurethane inner-coated black nylon fabric composite material according to the designed pattern. The cut nylon fabric composite material is then folded along its long side and hot-pressed and welded to form a long strip-shaped driving airbag. An extra safety welding distance must be reserved during the cutting of the nylon fabric composite material to ensure the subsequent pressure bearing effect.

[0033] The long strip-shaped drive airbag is sealed. A thin silicone rubber hose is placed as an isolation layer inside the long strip-shaped drive airbag formed by folding and hot pressing. The length of the thin silicone rubber hose should be slightly larger than the length of the drive airbag. Then, a hot welding machine is used to hot press and seal the two sides of the remaining airbag. A silicone tube with a suitable outer diameter is inserted and bonded with TPU silicone adhesive. The airbag is then left to cure.

[0034] S2. Fabricate the bottom limiting layer module; using polypropylene plastic material, the bottom limiting layer module is manufactured by laser cutting according to the pre-designed groove spacing, width, length and quantity.

[0035] S3. A rapid folding assembly strategy is adopted to assemble the driving airbag layer module and the bottom restraint layer module into an elbow joint flexible actuator; the elbow joint flexible actuator consists of multiple consecutive air chambers with the same airway.

[0036] Before proceeding to step S3, first determine the folding height, spacing, and quantity of the driving airbag layer modules, specifically:

[0037] Assuming the elbow joint flexible actuator bends at an angle Same as the elbow flexion angle, The radius of curvature is the length of the bottom limiting layer, which is the length of the entire driver. It is expressed as follows:

[0038]

[0039] in, This indicates the radius of curvature of the bottom limiting layer module of the elbow joint flexible actuator. It is the height of the air chamber of the flexible actuator of the elbow joint;

[0040] And, as Figure 3 The diagram shows the cross-sectional geometry of adjacent air chambers and the included angle between two adjacent air chambers. Defined as:

[0041]

[0042] in, It is the number of air chambers in the actuator. It is the center-to-center distance between two adjacent air chambers;

[0043] Upon close observation of each air chamber of the flexible elbow joint actuator in its deformed state, it can be observed that its shape exhibits a near-right-angled triangle characteristic, with each end of the air chamber connected by an approximate quarter-circle arc. Based on this approximate shape structure, the relevant dimensional parameters required for calculating the interaction forces of the folded air chambers are defined.

[0044] Using the tangent relationship, determine the central angle and included angle of the deformed arc. relation:

[0045]

[0046] The corresponding circumferential arc length is as follows:

[0047]

[0048] Because each airbag is made of a thermally heated polyurethane-coated black nylon fabric composite material, which is non-stretchable, and because the expansion and deformation of the flexible elbow joint actuator air chamber during operation is extremely minor and negligible, the perimeter of its cross-section remains constant before and after deformation.

[0049]

[0050] and use and Let it be defined as follows:

[0051]

[0052]

[0053] in, It is the center-to-center distance between adjacent air chambers. This refers to the radius of curvature value of the bending deformation of a single actuator chamber, determined by the spacing. OK; combine the two formulas above, , and Represented as:

[0054]

[0055] The contact pressure is determined by the air pressure inside each chamber and the contact area between the two chambers, as follows:

[0056]

[0057] like Figure 4 As shown, the torque generated by the elbow joint flexible actuator on the elbow joint is calculated as follows:

[0058]

[0059] Among them, lever arm This takes into account the distance between the rotation center of the actuator and the rotation center of the elbow joint;

[0060] Based on the bending moment demand analysis of typical working conditions of the elbow joint, a suitable auxiliary torque for the elbow joint is selected and set as the desired value. and elbow flexion angle And to strike a balance between actuator manufacturability and ergonomics, the appropriate elbow joint flexible actuator width is selected based on the anatomical dimensions of the upper limb forearm and upper arm. and height value( (This can be solved by combining formulas); therefore, based on the center interval between adjacent air chambers... Number of air chambers Based on the inverse proportional relationship, the appropriate elbow joint flexible actuator configuration parameters are ultimately selected.

[0061] In step S3, the rapid folding and assembly strategy includes three steps: folding, insertion, and assembly, such as... Figure 5 As shown, specifically:

[0062] Folding involves folding the long, strip-shaped driving airbag according to the pre-designed spacing, number, and height of adjacent chambers to form a serrated configuration.

[0063] Insert the serrated folded airbags sequentially into the slots of the bottom confinement layer module;

[0064] Assembly involves using quick-drying adhesive to bond the airbag to the bottom constraint layer module, forming a relatively fixed constraint.

[0065] These three steps enable the rapid manufacturing of flexible elbow joint actuators. Figure 2 The diagram shown is a schematic of a flexible actuator for the elbow joint.

[0066] S4. Fabricating the elbow joint liner module; cutting cotton-polyester blend fabric according to the user's elbow joint size, fabricating the liner, connecting the zipper, and sewing on the Velcro elastic band; specifically including:

[0067] Cut two pieces of cotton-polyester blended fabric and two pieces of zipper, one long and one short, to the required size according to the user's elbow joint dimensions. The short cotton-polyester blended fabric pieces need to be cut to a specific size because they need to constrain the folded air chambers of the same size. When cutting the cotton-polyester blended fabric pieces, an extra safety margin should be reserved for the sewing edge to prevent the sewing thread from coming loose due to stress during inflation.

[0068] like Figure 3 As shown, the elbow joint bushing module consists of two layers, an inner layer and an outer layer, with the outer layer attached to the inner layer. The outer layer is used to fix and constrain the flexible actuator of the elbow joint, while the inner layer is used for the constraint connection with the human forearm and upper arm.

[0069] The outer elbow joint bushing module is made of cotton-polyester blended fabric cut according to the size parameters of the bottom limiting layer module. One long side of the cotton-polyester blended fabric is directly sewn onto the inner elbow joint bushing module, while the other long side of the cotton-polyester blended fabric is connected to the inner elbow joint bushing module via a zipper, enabling quick installation and replacement of the elbow joint flexible actuator.

[0070] The inner elbow joint liner module is made of a rectangular cotton-polyester blended fabric. When unfolded, it is long and narrow, and when worn, it is cylindrical. The long sides of the cotton-polyester blended fabric are connected by zippers, and self-adhesive Velcro elastic bands of a certain width are sewn on the short sides to adjust the tightness of the elbow joint liner module in relation to the upper arm and forearm.

[0071] Example: This example provides a flexible wearable elbow joint rehabilitation assist system, including a driving airbag layer module, a bottom limiting layer module, and an elbow joint bushing module.

[0072] The drive airbag layer module, which forms a sealed cavity to store compressed gas, is an important component of the elbow joint flexible actuator body. The fabrication of the drive airbag layer module involves two steps: material cutting and airbag sealing.

[0073] First, using laser cutting technology, the 0.28mm thick thermal polyurethane inner-coated black nylon fabric composite material is accurately cut according to the designed pattern, and then folded along the long side of the cut nylon fabric composite material for hot-press welding; an additional 4mm safety welding distance needs to be reserved during the cutting of the nylon fabric composite material to ensure the subsequent pressure bearing effect.

[0074] Then, a thin silicone rubber hose with an inner diameter of 0.8 mm and an outer diameter of 1 mm is placed as an intermediate isolation layer inside the long strip-shaped drive airbag formed by folding and hot pressing, and the length of the thin silicone rubber hose needs to be slightly larger than the length of the drive airbag.

[0075] Finally, use a hot-pressing machine to seal the two sides of the remaining drive airbags, and insert a 3.2mm outer diameter silicone tube and bond it with TPU silicone adhesive (J-2105 plastic feet, Jule). Let it cure.

[0076] The bottom limiting layer module is manufactured by using a 2mm thick polypropylene board and laser cutting it to create a bottom limiting layer module with a slot spacing of 22cm, a long side distance of 4cm, a short side distance of 60mm, and a number of slots of 9.

[0077] After completing the fabrication of the driving airbag layer module and the bottom restraint layer module, this embodiment employs a rapid folding assembly strategy to assemble the elbow joint flexible actuator, specifically as follows:

[0078] Based on the bending moment requirement analysis under typical working conditions of the elbow joint, 30 Nm was set as the expected value, and a balance was achieved between the manufacturability of the actuator and ergonomics. Therefore, the parameters of the elbow joint flexible actuator were determined as follows: actuator length 200 mm, folding air chamber height 65 mm, folding air chamber width 60 mm, effective number of folding drive air chambers 9, and spacing between adjacent drive air chambers 22 mm.

[0079] like Figure 2 The diagram shown is a schematic of a flexible actuator for the elbow joint.

[0080] Finally, the elbow joint bushing module is fabricated. In this embodiment, the elbow joint bushing module is mainly made of 0.3mm thick 210D nylon woven fabric. Nylon fabric is a woven fabric. Because the warp and weft yarns are tightly arranged during the interlacing process, it can withstand greater external forces and is not easily broken. In particular, it has a certain tensile strength in both the warp and weft directions. Therefore, it is used as the base material of the wearable suit, thereby playing the role of fixing and restraining the actuator.

[0081] Based on the user's elbow circumference, cut two pieces of nylon fabric and two pieces of zipper, each of different lengths, to the required dimensions. The shorter fabric piece needs to be cut to a specific size to accommodate the folded air chamber of the same dimensions. Additionally, when cutting the nylon fabric piece, an extra 4mm of seam allowance should be added to the edge to prevent the sewing thread from coming undone due to stress during inflation.

[0082] High-strength 8-strand PE thread is used as the sewing thread. The sewing machine is used to sew the edge along the reserved 4mm edge to prevent the thread from coming loose due to stress during inflation. Then, according to the liner design, the large and small pieces of fabric and the zipper are organically sewn together to meet the needs of wearable positioning, and the elbow liner is completed.

[0083] Because the constraint layer at the upper end of the elbow bushing, after the above steps, has uniformly sized grooves, the flexible elbow actuator can be inserted into the corresponding grooves in sequence. Then, the long end is secured to the bushing body with a zipper to achieve the function of constraining the actuator. Furthermore, the zipper connection facilitates the replacement of different actuators.

[0084] In this embodiment, the flexible wearable elbow joint rehabilitation assistive system manufactured according to the above steps can be used to assist the wearer in continuous and controllable flexion of the elbow joint. The system facilitates passive or active assisted training, gradually restoring elbow joint muscle strength and motor coordination. The system's personalized size adaptation feature can meet the needs of patients with different limb sizes, and it is comfortable to wear, avoiding the pressure on the skin caused by traditional rigid exoskeletons, making it suitable for long-term rehabilitation training. Figure 6 The image shows a schematic diagram of the flexible wearable elbow joint rehabilitation assist system.

[0085] It should also be noted that, in this specification, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible wearable elbow joint rehabilitation assistive system, characterized in that, This includes a drive airbag layer module, a bottom restraint layer module, and an elbow joint bushing module; Drive airbag layer module, used to form a sealed cavity to store compressed gas; The bottom constraint layer module is used to fix and constrain the airbag layer module, so that it moves in a pre-programmed bending pattern; The drive airbag layer module and the bottom restraint layer module are assembled into a flexible elbow joint actuator using a rapid folding assembly strategy. Elbow joint bushing module, used to constrain and fix the assembled elbow joint flexible actuator in the position of the human forearm and upper arm.

2. The flexible wearable elbow joint rehabilitation assistive system according to claim 1, characterized in that, The driving airbag layer module is made of a composite material of nylon fabric with a thermal polyurethane inner coating. It is made by laser cutting technology or manual cutting, and the cut material is hot-pressed and welded to form a long strip driving airbag. The bottom limiting layer module is made of polypropylene plastic and is manufactured using laser cutting technology according to the pre-designed groove spacing, width, length and quantity. The elbow joint bushing module consists of cotton-polyester blended fabric cut to the user's elbow joint size, Velcro elastic band, and zipper.

3. The flexible wearable elbow joint rehabilitation assistive system according to claim 2, characterized in that, The elbow joint bushing module consists of two layers, an inner and an outer layer, with the outer layer attached to the inner layer. The outer layer is used to fix and constrain the flexible actuator of the elbow joint, while the inner layer is used for the constraint connection with the human forearm and upper arm. The outer elbow joint bushing module is made of cotton-polyester blended fabric cut according to the size parameters of the bottom restricting layer module. One long side of the cotton-polyester blended fabric is directly sewn onto the inner elbow joint bushing module, while the other long side of the cotton-polyester blended fabric is connected to the inner elbow joint bushing module via a zipper, enabling quick installation and replacement of the elbow joint flexible actuator. The inner elbow joint liner module is made of a rectangular cotton-polyester blended fabric. When unfolded, it is long and narrow, and when worn, it is cylindrical. The long sides of the cotton-polyester blended fabric are connected by zippers, and self-adhesive Velcro elastic bands of a certain width are sewn on the short sides to adjust the tightness of the elbow joint liner module in relation to the upper arm and forearm.

4. The flexible wearable elbow joint rehabilitation assistive system according to claim 3, characterized in that, The rapid folding and assembly strategy specifically includes three steps: folding, insertion, and assembly. Through these three steps, the rapid manufacturing of the elbow joint flexible actuator can be achieved. Specifically, folding involves folding the long strip-shaped driving airbag according to the pre-designed intervals, number, and height of adjacent chambers to form a sawtooth-like configuration. Insertion, specifically, involves sequentially inserting the serrated folded airbags into the slots of the bottom confinement layer module; Assembly involves using quick-drying adhesive to bond the airbag to the bottom constraint layer module, forming a relatively fixed constraint.

5. A method for manufacturing a flexible wearable elbow joint rehabilitation assistive system, used to manufacture the flexible wearable elbow joint rehabilitation assistive system according to any one of claims 1-4, characterized in that, Includes the following steps: S1. Fabricate the driving airbag layer module; use a thermal polyurethane inner-coated nylon fabric composite material, cut the material, hot-press weld to form an airbag, and seal the airbag. S2. Fabricate the bottom limiting layer module; using polypropylene plastic material, the bottom limiting layer module is manufactured by laser cutting according to the pre-designed groove spacing, width, length and quantity. S3. A quick folding assembly strategy is adopted to assemble the drive airbag layer module and the bottom restraint layer module into a flexible elbow joint actuator. S4. Make the elbow joint liner module; cut cotton-polyester blended fabric according to the user's elbow joint size, make the liner, connect the zipper and sew on the Velcro elastic band.

6. The manufacturing method of a flexible wearable elbow joint rehabilitation assistive system according to claim 5, characterized in that, Step S1 is as follows: Laser cutting technology is used to accurately cut a certain thickness of hot polyurethane inner-coated black nylon fabric composite material according to the designed pattern. The cut nylon fabric composite material is then folded along its long side and hot-pressed and welded to form a long strip-shaped driving airbag. An extra safety welding distance must be reserved during the cutting of the nylon fabric composite material to ensure the subsequent pressure bearing effect. The long strip-shaped drive airbag is sealed. A thin silicone rubber hose is placed as an isolation layer inside the long strip-shaped drive airbag formed by folding and hot pressing. The length of the thin silicone rubber hose should be slightly larger than the length of the drive airbag. Then, a hot welding machine is used to hot press and seal the two sides of the remaining airbag. A silicone tube with a suitable outer diameter is inserted and bonded with TPU silicone adhesive. The airbag is then left to cure.

7. The manufacturing method of a flexible wearable elbow joint rehabilitation assistive system according to claim 5, characterized in that, The elbow joint flexible actuator consists of multiple consecutive air chambers with the same airway; Before proceeding to step S3, first determine the folding height, spacing, and quantity of the driving airbag layer modules, specifically: Assuming the elbow joint flexible actuator bends at an angle Same as the elbow flexion angle, The radius of curvature is the length of the bottom limiting layer module, which is the length of the entire driver. It is expressed as follows: in, This indicates the radius of curvature of the bottom limiting layer module of the elbow joint flexible actuator. It is the height of the air chamber of the flexible actuator of the elbow joint; The angle between two adjacent air chambers Defined as: in, It is the number of air chambers in the actuator. It is the center-to-center distance between two adjacent air chambers; Using the tangent relationship, determine the central angle and included angle of the deformed arc. relation: The corresponding circumferential arc length is as follows: Because each airbag is made of a thermally heated polyurethane-coated black nylon fabric composite material, which is non-stretchable, and because the expansion and deformation of the flexible elbow joint actuator air chamber during operation is extremely minor and negligible, the perimeter of its cross-section remains constant before and after deformation. and use and Let it be defined as follows: in, It is the center-to-center distance between adjacent air chambers. This refers to the radius of curvature value of the bending deformation of a single actuator chamber, determined by the spacing. OK; combine the two formulas above, , and Represented as: The contact pressure is determined by the air pressure inside each chamber and the contact area between the two chambers, as follows: The torque generated by the elbow joint flexible actuator on the elbow joint is calculated as follows: Among them, lever arm This takes into account the distance between the rotation center of the actuator and the rotation center of the elbow joint; Based on the bending moment demand analysis of typical working conditions of the elbow joint, a suitable auxiliary torque for the elbow joint is selected and set as the desired value. and elbow flexion angle And to strike a balance between actuator manufacturability and ergonomics, the appropriate elbow joint flexible actuator width is selected based on the anatomical dimensions of the upper limb forearm and upper arm. and height Value; therefore, based on the center interval between adjacent air chambers Number of air chambers Based on the inverse proportional relationship, the appropriate elbow joint flexible actuator configuration parameters are ultimately selected.

8. The manufacturing method of a flexible wearable elbow joint rehabilitation assistive system according to claim 7, characterized in that, The rapid folding and assembly strategy includes three steps: folding, insertion, and assembly; specifically: Folding involves folding the long, strip-shaped driving airbag according to the pre-designed spacing, number, and height of adjacent chambers to form a serrated configuration. Insert the serrated folded airbags sequentially into the slots of the bottom confinement layer module; Assembly involves using quick-drying adhesive to bond the airbag to the bottom constraint layer module, forming a relatively fixed constraint.

9. A method for manufacturing a flexible wearable elbow joint rehabilitation assistive system according to claim 5, characterized in that, Step S4 includes: Cut two pieces of cotton-polyester blended fabric and two pieces of zipper, one long and one short, to the required size according to the user's elbow joint dimensions. The short cotton-polyester blended fabric pieces need to be cut to a specific size because they need to constrain the folded air chambers of the same size. When cutting the cotton-polyester blended fabric pieces, an extra safety margin should be reserved for the sewing edge to prevent the sewing thread from coming loose due to stress during inflation.

10. A method for manufacturing a flexible wearable elbow joint rehabilitation assistive system according to claim 9, characterized in that, The elbow joint bushing module consists of two layers, an inner and an outer layer, with the outer layer attached to the inner layer. The outer layer is used to fix and constrain the flexible actuator of the elbow joint, while the inner layer is used for the constraint connection with the human forearm and upper arm. The outer elbow joint bushing module is made of cotton-polyester blended fabric cut according to the size parameters of the bottom limiting layer module. One long side of the cotton-polyester blended fabric is directly sewn onto the inner elbow joint bushing module, while the other long side of the cotton-polyester blended fabric is connected to the inner elbow joint bushing module via a zipper, enabling quick installation and replacement of the elbow joint flexible actuator. The inner elbow joint liner module is made of a rectangular cotton-polyester blended fabric. When unfolded, it is long and narrow, and when worn, it is cylindrical. The long sides of the cotton-polyester blended fabric are connected by zippers, and self-adhesive Velcro elastic bands of a certain width are sewn on the short sides to adjust the tightness of the elbow joint liner module in relation to the upper arm and forearm.

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