Human-computer intelligent fusion exoskeleton rehabilitation system

Abstract

This invention relates to the field of medical robotics technology and provides a human-machine intelligent fusion exoskeleton rehabilitation system. The system includes an upper limb training device, a lumbar joint training device, and a lower limb training device. Two upper limb training devices are positioned on top of the lumbar joint training device, and two lower limb training devices are positioned at the bottom of the lumbar joint training device. In the upper limb training device, two pneumatic muscles of equal length are connected in series and then connected in parallel with two other pneumatic muscles of unequal length, forming a muscle group. The two muscle groups drive joint movement in an antagonistic manner. In the lumbar joint training device, a motor drives a clamping element to achieve rotation of the lumbar joint around the X and Z axes. This invention, driven by a motor and pneumatic muscles, features diverse rehabilitation training modes, a balance of rigidity and flexibility, and multi-degree-of-freedom rehabilitation training, and can be used for hemiplegic rehabilitation training, accident rehabilitation training, etc.

Description

Technical Field

[0001] This invention belongs to the field of medical robot technology, and in particular relates to a human-machine intelligent fusion exoskeleton rehabilitation system. Background Technology

[0002] Pneumatic muscles, as a primary pneumatic actuator, possess advantages such as good compliance, being affected only by air pressure, and easily controllable stiffness. They have been widely used in exoskeleton robots, humanoid robots, and arm performance testing. With the aging population and the increasing number of elderly people with hemiplegia, the demand for exoskeleton robots is growing. However, the current rehabilitation training in hospital clinics mainly uses straps, which cannot meet the needs of patients.

[0003] In existing technologies, Chinese patents 202222398238.7 and 202310277312.6, among others, have designed rigid lower limb exoskeleton robots; Chinese patents 202211487967.8 and 202211507208.3, among others, have designed rigid upper limb exoskeleton robots. These rigid robots have limited rehabilitation training modes, excessive rigidity that can easily cause secondary injuries, and they do not conform to ergonomics. Furthermore, the degree of freedom in rehabilitation training with rigid robots is limited. Therefore, further improvements are necessary. Summary of the Invention

[0004] The purpose of this invention is to provide a human-machine intelligent fusion exoskeleton rehabilitation system, which aims to solve the problems existing in the background art.

[0005] The present invention is implemented as follows: a human-machine intelligent fusion exoskeleton rehabilitation system, the system comprising: an upper limb training device, a lumbar joint training device and a lower limb training device, wherein two of the upper limb training devices are disposed on the top of the lumbar joint training device and two of the lower limb training devices are disposed on the bottom of the lumbar joint training device; The lumbar joint training device includes multiple lumbar joint layers connected in series along the Z-axis. Each lumbar joint layer has a clamping member 1 rotatably connected to both ends along the Y-axis. The clamping member 1 is rotatably connected to a clamping member 2 and a clamping member 3 connected in series along the X-axis. When a user wears the system, the upper limb training device can drive the user's upper limbs to perform rehabilitation training, and the lower limb training device can drive the user's lower limbs to perform rehabilitation training. The single or multiple clamping parts one, clamping part two, and clamping part three in the lumbar joint layer rotate to perform rehabilitation training on the user's body.

[0006] This invention provides a human-machine intelligent fusion exoskeleton rehabilitation system. In the upper limb training device, two muscle groups drive joint movement in the form of antagonistic muscles. In the lumbar joint training device, a motor drives a clamping component to rotate the lumbar joint around the X and Z axes. In the lower limb training device, a single-joint pneumatic muscle group drives the hip joint to rotate around the X and Y axes, while a multi-joint pneumatic muscle group drives the hip and knee joints to rotate around the Y axis. Utilizing multiple pneumatic muscles to drive the exoskeleton robot allows for both active and passive rehabilitation training, with free switching between the two modes. The system includes an upper limb training device, a lumbar joint training device, and a lower limb training device, enabling full-body and full-joint rehabilitation training. The pneumatic muscle drive provides good compliance and works in conjunction with rigid components, achieving a balance of rigidity and flexibility. The use of multiple pneumatic muscles to drive joints provides multiple degrees of freedom, conforming to ergonomics and contributing to the diversification of rehabilitation training movements for each joint. It can be used for hemiplegic rehabilitation training, accident rehabilitation training, etc. Attached Figure Description

[0007] Figure 1 This is a structural diagram of a human-machine intelligent fusion exoskeleton rehabilitation system provided in an embodiment of the present invention; Figure 2 This is a structural diagram of the lumbar joint in one embodiment; Figure 3 This is a single-layer structural diagram of the lumbar joint in one embodiment; Figure 4 This is a structural diagram of the two lower limbs in one embodiment; Figure 5 This is a structural diagram of a single lower limb in one embodiment; Figure 6 This is a structural diagram of the two upper limbs in one embodiment.

[0008] In the attached diagram: Left upper limb training device 101, right upper limb training device 102, lumbar joint training device 200, left lower limb training device 301, right lower limb training device 302; Connector 1 4, Connector 2 5, First layer of lumbar joint 6, Second layer of lumbar joint 7, Third layer of lumbar joint 8, Left side clamping device 9, Intermediate component 10, Motor 1 11, Right side clamping device 12, Motor 2 13, Clamping component 1 14, Motor 3 15, Motor 4 16, Clamping component 2 17, Motor 5 18, Motor 6 19, Clamping component 3 20, Connector 3 21, First section of thigh 22, Intermediate component of thigh 23, Second section of thigh 24, First section of outer calf 25, Intermediate component of calf 26, Second section of outer calf 27, Elastic band 28. Foot 29. Upper thigh plate 30. Pneumatic muscle 1 31. Pneumatic muscle 2 32. Pneumatic muscle 3 33. Pneumatic muscle 4 34. Pneumatic muscle 5 35. Elastic band 2 36. First segment of inner calf 37. Elastic band 3 38. Elastic band 4 39. Second segment of inner calf 40. Pneumatic muscle 6 41. End piece 1 42. Rope 43. Forearm piece 44. Connecting plate 45. Rotating wheel 46. End piece 2 47. Connecting piece 4 48. Pneumatic muscle 7 49. Pneumatic muscle 8 50. Support frame 51. Pneumatic muscle 9 52. Pneumatic muscle 10 53. Pneumatic muscle 11 54. Pneumatic muscle 12 55. Pneumatic muscle 13 56. Pneumatic muscle 14 57. Pneumatic muscle 15 58. Upper arm piece 59. Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0010] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0011] like Figure 1 The diagram shown is a structural diagram of a human-machine intelligent fusion exoskeleton rehabilitation system provided in an embodiment of the present invention, including: an upper limb training device, a lumbar joint training device 200 and a lower limb training device. Two of the upper limb training devices are disposed on the top of the lumbar joint training device 200, and two of the lower limb training devices are disposed on the bottom of the lumbar joint training device 200. Among them, the two upper limb training devices are: left upper limb training device 101 and right upper limb training device 102, and the two lower limb training devices are: left lower limb training device 301 and right lower limb training device 302. They have the same structure and are symmetrical from left to right. like Figure 2 , Figure 3As shown, the lumbar joint training device 200 includes multiple lumbar joint layers connected in series along the Z-axis direction. Each lumbar joint layer has a clamping member 14 rotatably connected to both ends along the Y-axis direction. The clamping member 14 is rotatably connected to a clamping member 27 and a clamping member 30 connected in series along the X-axis direction. Among them, the X-axis direction, Y-axis direction, and Z-axis direction are the directions in the XYZ three-axis coordinate system; the multiple lumbar joint layers connected in series along the Z-axis direction are: the first lumbar joint layer 6 and the second lumbar joint layer 7 are fixedly connected by the two ends of connector 1 4 respectively, and the second lumbar joint layer 7 and the third lumbar joint layer 8 are fixedly connected by the two ends of connector 2 5 respectively. In some scenarios, the structures of the first layer 6, the second layer 7, and the third layer 8 of the lumbar joint are completely identical; When a user wears the system, the upper limb training device can drive the user's upper limbs to perform rehabilitation training, and the lower limb training device can drive the user's lower limbs to perform rehabilitation training. One or more clamping members 14, 17 and 20 in the lumbar joint layer partially or completely rotate to perform rehabilitation training on the user's body.

[0012] In one example of this embodiment, a first motor assembly is provided at one end of the lumbar joint layer that is rotatably connected to clamping member 14, and the first motor assembly is used to drive clamping member 14 to rotate; a second motor assembly is provided at one end of the clamping member 14 that is rotatably connected to clamping member 27, and the second motor assembly is used to drive clamping member 27 to rotate; a third motor assembly is provided at one end of the clamping member 27 that is rotatably connected to clamping member 30, and the third motor assembly is used to drive clamping member 30 to rotate.

[0013] Taking the first layer 6 of the lumbar joint as an example, the structure of the lumbar joint layer is explained. The first layer 6 of the lumbar joint includes a left clamping device 9, an intermediate part 10, and a right clamping device 12. The left clamping device 9 and the right clamping device 12 have the same structure and are symmetrical. The intermediate part 10 is a plate with motor mounting holes at both ends and threaded holes machined on the surface. The threaded holes can be connected to the first connector 4 or the second connector 5 by bolts. The first connector 4 and the second connector 5 are made of profiles, and the material can be plastic or aluminum alloy.

[0014] In one example, such as Figure 3As shown, the right-side clamping device 12 consists of multiple motor groups and clamping components. Specifically, the first motor group includes motor one 11 and motor two 13. The housings of motor one 11 and motor two 13 are fixedly connected to the intermediate component 10, and can be set in the motor mounting holes. The rotating shafts of motor one 11 and motor two 13 are fixedly connected to clamping component one 14. The second motor group includes motor three 15 and motor four 16. The housings of motor three 15 and motor four 16 are fixedly connected to clamping component one 14, and the rotating shafts of motor three 15 and motor four 16 are fixedly connected to clamping component two 17. The third motor group includes motor five 18 and motor six 19. The housings of motor five 18 and motor six 19 are fixedly connected to clamping component two 17, and the rotating shafts of motor five 18 and motor six 19 are fixedly connected to clamping component three 20.

[0015] Among them, motor 11 and motor 2 13 drive the right clamping device 12 to rotate around the X-axis, and motor 3 15, motor 4 16, motor 5 18 and motor 6 19 drive the right clamping device 12 to rotate around the Z-axis.

[0016] In one example, clamping element 14 can be a T-shaped I-beam bracket, and clamping element 27 and clamping element 320 can be I-beam brackets.

[0017] In one embodiment, such as Figure 1 , Figure 4 As shown, one end of connector 321 is connected to the third layer 8 of the lumbar joint, and the other end is fixedly connected to both the left lower limb training device 301 and the right lower limb training device 302. The left lower limb training device 301 and the right lower limb training device 302 have the same structure and are symmetrical.

[0018] In one embodiment, such as Figure 1 , Figure 4 , Figure 5 As shown, the lower limb training device includes: The lower limb frame includes a thigh, a lower leg, and a foot connected in sequence; The first pneumatic muscle group has one end connected to the top of the thigh and the other end connected between the thigh and the calf. The second pneumatic muscle group has one end connected to the top of the thigh and the other end connected to the calf.

[0019] In one example of this embodiment, the thigh includes a first thigh segment 22, a middle thigh segment 23, and a second thigh segment 24 connected in sequence, and the calf includes an outer calf segment 25, a middle calf segment 26, and an outer calf segment 27 connected in sequence, as well as an inner calf segment 37 and an inner calf segment 40 connected in sequence. The first thigh segment 22 is connected to the lumbar joint training device 200 via the upper thigh side plate 30, and the outer second calf segment 27 and the inner second calf segment 70 are connected to the foot.

[0020] In one example of this embodiment, one end of the first thigh segment 22 is rotatably connected to the upper thigh side plate 30, and the other end is fixedly connected to the thigh middle member 23; one end of the second thigh segment 24 is fixedly connected to the thigh middle member 23, and the other end is rotatably connected to the outer first calf segment 25; one end of the outer second calf segment 27 is fixedly connected to the calf middle member 26, and the other end is rotatably connected to the foot; both ends of the inner second calf segment 40 are rotatably connected to the inner first calf segment 37 and the foot, respectively; the top of the inner first calf segment 37 is connected to the thigh middle member 23.

[0021] In one example of this embodiment, the rotatable connection is implemented using a universal joint; the thigh intermediate part 23 and the calf intermediate part 26 are rods; the foot part, specifically the foot 29, is a plate.

[0022] In one example of this embodiment, the first pneumatic muscle group includes: pneumatic muscle one 31, pneumatic muscle three 33, and pneumatic muscle five 35. The pneumatic muscles one 31, pneumatic muscle three 33, and pneumatic muscle five 35 are arranged in a designated position, and the two ends of the pneumatic muscles one 31, pneumatic muscle three 33, and pneumatic muscle five 35 are respectively rotatably connected to the thigh middle piece 23 and the upper thigh side plate 30. The second pneumatic muscle group includes: pneumatic muscle 2 32 and pneumatic muscle 4 34; the two ends of pneumatic muscle 2 32 and pneumatic muscle 4 34 are rotatably connected to the lower leg intermediate piece 26 and the upper thigh side plate 30, respectively; pneumatic muscle 4 34 and pneumatic muscle 2 32 are distributed front and back.

[0023] In this example, pneumatic muscles 1 (31), 3 (33), and 5 (35) are arranged in designated positions. One possible arrangement is that pneumatic muscles 5 (35), 3 (33), and 1 (31) are positioned in front, on the side, or behind the lower limb frame. Pneumatic muscles 5 (35), 3 (33), and 1 (31) drive the hip joint to rotate around the X and Y axes, while pneumatic muscles 4 (34) and 2 (32) drive the hip and knee joints to rotate around the Y axis.

[0024] In one example of this embodiment, elastic bands are connected between the first thigh segment 22 and the inner calf segment 37, between the second thigh segment 24 and the inner calf segment 37, between the outer calf segment 25 and the inner calf segment 40, and between the outer calf segment 27 and the inner calf segment 40; this ensures adaptability to various body types and ease of wearing.

[0025] In this example, the elastic bands are: elastic band 1 28, elastic band 2 36, elastic band 3 38, and elastic band 4 39. Elastic band 2 36 is fixedly connected to the first thigh segment 22 and the first inner calf segment 37 on both sides. Elastic band 3 38 is fixedly connected to the second thigh segment 24 and the first inner calf segment 37 on both sides. Elastic band 4 39 is fixedly connected to the first outer calf segment 25 and the second inner calf segment 40 on both sides. Elastic band 1 28 is fixedly connected to the second outer calf segment 27 and the second inner calf segment 40 on both sides.

[0026] In one example of this embodiment, the first thigh segment 22, the middle thigh component 23, the second thigh segment 24, the outer first calf segment 25, the middle calf component 26, the outer second calf segment 27, the upper thigh side plate 30, the inner first calf segment 37, and the inner second calf segment 40 are made of aluminum alloy; the elastic band is made of rubber. Using aluminum alloy can ensure the rigidity of the system while reducing its weight.

[0027] In one example of this embodiment, in order to reduce manufacturing costs, the dimensions of connector 1 4, connector 2 5, connector 3 21, and connector 4 48 are completely identical, as are the dimensions of the first layer 6, the second layer 7, and the third layer 8 of the lumbar joint.

[0028] like Figure 1 , Figure 2 , Figure 6 As shown, in one embodiment, the two ends of the connector 48 are fixedly connected to the first layer 6 of the waist joint and the connecting plate 45, respectively; one end of the support frame 51 is fixedly connected to the connecting plate 45.

[0029] In one example of this embodiment, the upper limb training device includes: The upper limb frame includes an upper arm component 59, a forearm component 44, and a rotating wheel 46. The rotating wheel 46 is rotatably connected to the upper arm component 59 and fixedly connected to the forearm component 44. The upper arm component 59 is rotatably connected to one end of a support frame 51, and the other end of the support frame 51 is connected to the lumbar joint training device 200. The third pneumatic muscle group, the two ends of which are rotatably connected to the support frame 51 and the upper arm component 59 respectively. The fourth pneumatic muscle group is fixedly connected to a support frame 51 at one end and to an end piece 42 at the other end. The fifth pneumatic muscle group has a support frame 51 fixedly connected to one end and an end piece 47 fixedly connected to the other end. One end of the end piece 47 is connected to a rope 43, and the other end of the rope 43 passes around the rotating wheel 46 and is connected to the end piece 42. The rope 43 engages with the rotating wheel 46.

[0030] In one example of this embodiment, the third pneumatic muscle group includes parallel pneumatic muscles 9 52 and 10 53. One end of the parallel pneumatic muscles 9 52 and 10 53 is connected to the support frame 51, and the other end is connected to the upper arm component 59. The shoulder joint is driven to rotate relative to each other around the Z-axis by the pneumatic muscles 9 52 and 10 53.

[0031] In one example of this embodiment, end piece 1 42 and end piece 2 47 are connected plates.

[0032] In one example of this embodiment, the materials of connector 1 4, connector 2 5, intermediate component 10, clamping component 1 14, clamping component 2 17, clamping component 3 20, connector 3 21, foot 29, connector 48, and support frame 51 are plastic; the materials of end component 1 42, forearm component 44, connecting plate 45, rotating wheel 46, end component 2 47, and upper arm component 59 are aluminum alloy. In this way, the system strength is guaranteed while the weight of the system can be reduced.

[0033] In one example of this embodiment, the fourth pneumatic muscle group includes: pneumatic muscle six 41, pneumatic muscle seven 49, pneumatic muscle eight 50, and pneumatic muscle eleven 54. The pneumatic muscle 7 49 and pneumatic muscle 8 50 are connected in series, and then connected in parallel with the pneumatic muscle 6 41 and pneumatic muscle 11 54 connected in series. The fourth pneumatic muscle group has the same structure as the fifth pneumatic muscle group.

[0034] In one example of this embodiment, the fifth pneumatic muscle group includes: pneumatic muscle 12 55, pneumatic muscle 13 56, pneumatic muscle 14 57 and pneumatic muscle 15 58. Pneumatic muscle 13 56 is connected in series with pneumatic muscle 15 58, and then connected in parallel with pneumatic muscle 12 55 and pneumatic muscle 14 57. Pneumatic muscle 13 56, pneumatic muscle 15 58, pneumatic muscle 12 55 and pneumatic muscle 14 57 constitute a group of pneumatic muscle groups, namely the fifth pneumatic muscle group.

[0035] In one example of this embodiment, the pneumatic muscles 7 49 and 8 50 have the same length; pneumatic muscle 11 54 is longer than pneumatic muscles 7 49 and 8 50, and pneumatic muscle 6 41 is shorter than pneumatic muscles 7 49 and 8 50; the sum of the lengths of pneumatic muscles 11 54 and 6 41 is equal to twice the length of pneumatic muscle 7 49.

[0036] Similarly, in the fifth pneumatic muscle group, pneumatic muscles thirteen (56) and fifteen (58) have the same length; pneumatic muscle twelfth (55) is longer than pneumatic muscles thirteen (56) and fifteen (58), and pneumatic muscle fourteenth (57) is shorter than pneumatic muscles thirteen (56) and fifteen (58). The sum of the lengths of pneumatic muscles twelfth (55) and fourteenth (57) is twice the length of pneumatic muscle thirteenth (56) or pneumatic muscle seven (49).

[0037] Among them, the shoulder joint is driven to rotate relative to each other around the Z-axis by pneumatic muscles 9 52 and 10 53, pneumatic muscles 7 49, 8 50, 6 41 and 11 54 form a muscle group, and pneumatic muscles 13 56, 15 58, 12 55 and 14 57 form another muscle group. The two muscle groups drive the elbow joint to rotate relative to each other around the Y-axis in the form of antagonistic muscles.

[0038] As described above, by controlling the motors and pneumatic muscles of each joint, the control of each joint in the human-machine intelligent fusion exoskeleton rehabilitation system is realized, and precise trajectory control can be achieved. This embodiment has the advantage of combining rigidity and flexibility that other exoskeleton rehabilitation systems cannot match.

[0039] 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, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A human-machine intelligent fusion exoskeleton rehabilitation system, characterized in that, The system includes: an upper limb training device, a lumbar joint training device (200) and a lower limb training device, with two upper limb training devices disposed on the top of the lumbar joint training device (200) and two lower limb training devices disposed on the bottom of the lumbar joint training device (200); The lumbar joint training device (200) includes multiple lumbar joint layers connected in series along the Z-axis direction. Each lumbar joint layer has a clamping member (14) rotatably connected to both ends along the Y-axis direction. The clamping member (14) is connected in series with a clamping member (17) and a clamping member (20) rotatably connected along the X-axis direction. When a user wears the system, the upper limb training device can drive the user's upper limbs to perform rehabilitation training, and the lower limb training device can drive the user's lower limbs to perform rehabilitation training. One or more clamping components one (14), two (17) and three (20) in the lumbar joint layer partially or completely rotate to perform rehabilitation training on the user's body.

2. The system according to claim 1, characterized in that, A first motor assembly is provided at one end of the waist joint layer that is rotatably connected to clamping member one (14), and the first motor assembly is used to drive clamping member one (14) to rotate; a second motor assembly is provided at one end of the clamping member one (14) that is rotatably connected to clamping member two (17), and the second motor assembly is used to drive clamping member two (17) to rotate; a third motor assembly is provided at one end of the clamping member two (17) that is rotatably connected to clamping member three (20), and the third motor assembly is used to drive clamping member three (20) to rotate.

3. The system according to claim 1, characterized in that, The lower limb training device includes: The lower limb frame includes a thigh, a lower leg, and a foot connected in sequence; The first pneumatic muscle group has one end connected to the top of the thigh and the other end connected between the thigh and the calf. The second pneumatic muscle group has one end connected to the top of the thigh and the other end connected to the calf.

4. The system according to claim 3, characterized in that, The thigh portion includes a first thigh segment (22), a middle thigh piece (23), and a second thigh segment (24) connected in sequence. The calf portion includes an outer calf segment (25), a middle calf piece (26), and an outer calf segment (27) connected in sequence, as well as an inner calf segment (37) and an inner calf segment (40) connected in sequence. The first thigh segment (22) is connected to the lumbar joint training device (200) via the upper thigh side plate (30), and the outer second segment (27) and inner second segment (40) of the lower leg are connected to the foot.

5. The system according to claim 4, characterized in that, The first pneumatic muscle group includes: pneumatic muscle one (31), pneumatic muscle three (33), and pneumatic muscle five (35). The pneumatic muscles one (31), pneumatic muscle three (33), and pneumatic muscle five (35) are arranged in a designated position, and the two ends of the pneumatic muscles one (31), pneumatic muscle three (33), and pneumatic muscle five (35) are rotatably connected to the thigh middle piece (23) and the upper thigh side plate (30), respectively. The second pneumatic muscle group includes: pneumatic muscle two (32) and pneumatic muscle four (34); the two ends of the pneumatic muscle two (32) and pneumatic muscle four (34) are rotatably connected to the calf intermediate piece (26) and the upper thigh side plate (30), respectively.

6. The system according to claim 4, characterized in that, Elastic bands are connected between the first thigh segment (22) and the first inner calf segment (37), between the second thigh segment (24) and the first inner calf segment (37), between the first outer calf segment (25) and the second inner calf segment (40), and between the second outer calf segment (27) and the second inner calf segment (40).

7. The system according to claim 6, characterized in that, The first thigh segment (22), the middle thigh segment (23), the second thigh segment (24), the first outer calf segment (25), the middle calf segment (26), the second outer calf segment (27), the upper thigh side plate (30), the first inner calf segment (37), and the second inner calf segment (40) are made of aluminum alloy; the elastic band is made of rubber.

8. The system according to claim 1, characterized in that, The upper limb training device includes: The upper limb frame includes an upper arm component (59), a forearm component (44), and a rotating wheel (46). The rotating wheel (46) is rotatably connected to the upper arm component (59) and fixedly connected to the forearm component (44). The upper arm component (59) is rotatably connected to one end of a support frame (51), and the other end of the support frame (51) is connected to a lumbar joint training device (200). The third pneumatic muscle group, the two ends of which are rotatably connected to the support frame (51) and the upper arm piece (59) respectively; The fourth pneumatic muscle group is fixedly connected to a support frame (51) at one end and to an end piece (42) at the other end. The fifth pneumatic muscle group has a support frame (51) fixedly connected to one end and an end piece two (47) fixedly connected to the other end; the end piece two (47) is connected to one end of a rope (43), the other end of which passes around the rotating wheel (46) and is connected to the end piece one (42), and the rope (43) meshes with the rotating wheel (46).

9. The system according to claim 8, characterized in that, The fourth pneumatic muscle group includes: pneumatic muscle six (41), pneumatic muscle seven (49), pneumatic muscle eight (50) and pneumatic muscle eleven (54). The pneumatic muscle seven (49) is connected in series with the pneumatic muscle eight (50), and then connected in parallel with the pneumatic muscle six (41) and pneumatic muscle eleven (54) connected in series. The fourth pneumatic muscle group has the same structure as the fifth pneumatic muscle group.

10. The system according to claim 9, characterized in that, The pneumatic muscles 7 (49) and 8 (50) are of the same length; pneumatic muscle 11 (54) is longer than pneumatic muscle 7 (49) and 8 (50), and pneumatic muscle 6 (41) is shorter than pneumatic muscle 7 (49) and 8 (50); the sum of the lengths of pneumatic muscle 11 (54) and pneumatic muscle 6 (41) is twice the length of pneumatic muscle 7 (49).

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