Soft robotics device, kit, and system for limb rehabilitation

Abstract

SOLUTION: The present invention relates to a rehabilitation system for lower or upper limbs. A limb rehabilitation system comprises an ankle-assist or wrist-assist rehabilitation device (300) and an intermittent pneumatic compression (IPC) device (305). The limb rehabilitation device (300) which is constituted by a soft elongation actuator assembly (410) is operable so as to minimize joint contracture, while the IPC device (305) is operable so as to increase venous blood flow in a patient at risk and contribute to the prevention of deep vein thrombosis and pulmonary embolism. For lower-limb rehabilitation, the rehabilitation device (300) assists dorsiflexion and plantar flexion, as well as eversion or inversion of the ankle, to improve mobility of the ankle of the user.SELECTED DRAWING: Figure 3B

Description

[Technical Field]

[0001] This invention claims priority to Singapore Patent Application No. 10202401149X, filed April 19, 2024, the disclosure of which is incorporated herein in its entirety.

[0002] The present invention generally relates to soft robots or soft linear actuators with built-in sensors for lower or upper limb rehabilitation to minimize wrist or ankle contractures. Additionally, the devices and systems can also be used for intermittent compression of calf muscles to prevent deep vein thrombosis and pulmonary embolism. [Background technology]

[0003] In the field of ankle rehabilitation, there are known technologies such as continuous passive motion (CPM) devices and exercise pedalers, all of which aim to mobilize the lower limb and ankle joints. These devices are mainly used in rehabilitation centers, where inpatients must be transported to the center for treatment or outpatients must make an appointment to attend the rehabilitation center.

[0004] Unlike these known technology devices, the device of the present invention is portable and easy to use, and can be taken to the hospital ward or the patient's home for use. Furthermore, the device of the present invention also allows for acute intervention after the patient has become immobile, optimizing patient recovery by providing ankle and wrist rehabilitation in the hospital ward or at the bedside. This is possible because the device of the present invention is portable and lightweight.

[0005] Thus, there is a need for a readily available device that has the dual function of preventing both deep vein thrombosis (DVT) and joint contractures, as prolonged immobility is one of the causes of these complications. Accordingly, the device of the present invention aims to overcome the shortcomings of the existing prior art.

[0006] Additionally, soft robotic devices combined with intermittent pneumatic compression (IPC) for ankle and wrist rehabilitation can be delivered directly to the patient's bed, maximizing the benefits of rehabilitation in all aspects of a patient's recovery. Summary of the Invention [Problem to be solved by the invention]

[0007] The following presents a simplified summary in order to provide a basic understanding of the invention. This summary is not an extensive overview of the invention and is not intended to identify key features of the invention. Rather, this summary is intended to introduce some inventive concepts of the invention in a general form before the detailed description and claims that follow.

[0008] Soft actuator devices are fabricated from soft materials (elastomers, gels, liquids, etc.). These soft actuator devices have the advantage that their size and shape can be easily modified depending on the application, such as electrical, chemical, pneumatic, magnetohydrodynamic, or hydraulic drive. Furthermore, these devices are formed using low-rigidity elastomer materials (Young's modulus less than 10 MPa), so they easily deform in response to external forces. These properties enable soft actuator devices to achieve functions that are difficult to achieve with hard metal components. For example, such functions include safe interaction with soft biological tissue.

[0009] This invention utilizes soft robotics technology to develop a venous assist and contracture management (VACOM) system with the following functions: (i) Applying intermittent pneumatic compression (IPC) to assist venous blood return to the heart in at-risk patients, thereby reducing deep vein thrombosis (DVT) and pulmonary embolism; (ii) Using soft pneumatic actuators to assist ankle dorsiflexion / plantarflexion and eversion / inversion, improving ankle mobility in patients. This can also be applied to wrist rehabilitation. This invention features a combined device that combines intermittent pneumatic compression (IPC) with ankle and wrist mobilization, making it desirable for minimizing deep vein thrombosis (DVT) and restoring ankle and wrist mobilization. This device aims to reduce the risk of deep vein thrombosis and ankle and wrist contractures in immobilized patients, such as stroke patients hospitalized in hospitals or nursing homes. This device is useful for early rehabilitation intervention in acutely immobilized patients. It can also be applied to home rehabilitation and care for immobile patients after they are discharged from the hospital.

[0010] The present invention allows for pneumatically actuated or synchronized, for example, intermittent calf compression and ankle or wrist mobilization, which has the advantage of mimicking natural human movement, preventing deep vein thrombosis and ankle or wrist joint contractures, thus allowing the end user to receive more intensive rehabilitation.

[0011] In one embodiment, the present invention provides ankle mobilization through extension and dorsiflexion, which is beneficial because ankle mobilization is intended to assist users / patients, especially the elderly, in exercising their ankles while they are recovering in bed, thereby maximizing the effective treatment time each end user receives each day, improving recovery rates, and preventing medical complications due to immobility.

[0012] The present invention uses a soft, compliant actuator, which reduces the risk of injury to the end user from the actuator's movement, for example, if the foot encounters resistance during an ankle assist movement.

[0013] The present invention enables ankle / wrist motion dynamics and kinematics sensing. This additional sensing capability allows real-time feedback of limb range of motion, enabling end users in the hospital to track rehabilitation compliance and progress.

[0014] The device of the present invention is lightweight and portable, allowing the intended end user, such as a nurse, patient, or elderly caregiver, to carry the device and wear it on their leg, for example, to assist with ankle mobility.

[0015] The present invention is easy to use for intended users, particularly medical professionals, caregivers, and patients, minimizing operational challenges they face in attaching devices to limbs and operating electronic devices for controlling assisted limb movements such as ankles and wrists.

[0016] The present invention allows for pressure reuse, so that when alternating between controlling an IPC and a limb assist rehabilitation device, air from the limb assist rehabilitation actuator can be used to fill the IPC device and vice versa, thereby reducing total power consumption.

[0017] The VACOM is comprised of the IPC and a limb assist rehabilitation device. The present invention also encompasses remote control of multiple VACOM devices. According to an embodiment of the present invention, this can be achieved by using a central console to allow a single hospital user to control device parameters of multiple VACOM devices and collect integrated data from these multiple devices.

[0018] In one embodiment, the present invention provides a soft robotic device for limb rehabilitation, comprising: an extension actuator disposed within an actuator pouch; a brace for connecting opposite ends of the actuator pouch across a joint of a limb; a sensor for detecting movement of the joint of the limb; and a controller that receives input from the sensor and outputs a signal for driving the extension actuator to dorsiflex or plantarflex the joint.

[0019] In another embodiment, the present invention provides a soft robotic device for limb rehabilitation, comprising: two extension actuators arranged side by side within an actuator pouch; a sensor having a plurality of states based on each of a plurality of movement phases of a joint of a limb; a controller in communication with the sensor, receiving input from the sensor and outputting signals to drive the two extension actuators; and a brace for connecting both ends of the actuator pouch across the joint of the limb, wherein the soft robotic device is operable to perform one of the following: both extension actuators simultaneously expand to perform dorsiflexion of the joint; both extension actuators simultaneously contract to perform plantarflexion of the joint; or one extension actuator expands while the other contracts to perform valgus or varus of the joint.

[0020] In one embodiment, the extension actuator is pneumatically expandable.

[0021] In another embodiment, the sensor comprises an inertial measurement unit sensor with multiple axes for joint kinematics and motion dynamics sensing.

[0022] In another embodiment, the sensor comprises a load cell capable of measuring the load applied to the joint depending on the stiffness of the joint.

[0023] In another embodiment, the soft robotic device further comprises an intermittent pneumatic compression (IPC) device that can be attached to an arm muscle or a calf muscle, said IPC operable to minimize deep vein thrombosis or pulmonary embolism.

[0024] The present invention also provides a kit for limb rehabilitation, comprising the soft robotic device described above, a pump for selectively inflating and deflating the extension actuator and / or the IPC device, a control box for controlling the pump, a sensor for monitoring the movement of the joint of the limb, a pouch for housing the extension actuator, a foot brace, and a knee brace. The soft robotic device is configured to synchronize the inflation or deflation of the extension actuator with the IPC device to perform joint rehabilitation exercises simultaneously or alternately.

[0025] In one embodiment, the IPC devices are placed in series for lower limb rehabilitation.

[0026] In another embodiment, the soft robotic device and the IPC device are independently controllable.

[0027] The present invention also provides a system for limb rehabilitation, the system comprising a kit or kits of components as described above, and a central console unit operable to receive data from each of the kit or kits of components and to control each kit individually or collectively.

[0028] In one embodiment, the IPC device is operable intermittently, sequentially moving away from the ankle or wrist.

[0029] In another embodiment, the extensional actuator or IPC device is constructed from a flexible elastomer, fabric, fiber, or any combination thereof. [Brief explanation of the drawings]

[0030] The present invention will now be described by way of non-limiting embodiments thereof with reference to the accompanying drawings, in which: [Figure 1] 1 illustrates a "fishbone" type extension actuator element according to an embodiment of the present invention. [Figure 2] 10 illustrates a bellows extension actuator element according to another embodiment of the present invention. [Figure 3A-3B] 1 illustrates a lower limb ankle assist rehabilitation device using an extension actuator and an intermittent pneumatic compression (IPC) device according to an embodiment of the present invention. [Figure 4] 1 illustrates the extension actuator and actuator pouch according to an embodiment of the present invention. [Figure 5A-5B] 1 shows an exploded view of the extension actuator according to an embodiment of the present invention. [Figure 6] 1 illustrates components of a VACOM device according to an embodiment of the present invention. [Figure 7] 1 shows a simulated application example of a VACOM device according to an embodiment of the present invention. [Figure 8] 1 shows an exploded view of the wearable extension actuator according to an embodiment of the present invention. FIG. [Figure 9] 1 is a flowchart illustrating an example of application of an IPC or limb rehabilitation device according to an embodiment of the present invention. [Figures 10A-10B] 10 illustrates possible control scenarios for synchronizing or driving an extension actuator and an IPC device according to an embodiment of the present invention. [Figure 11] 1 illustrates the concept of air pressure recycling according to an embodiment of the present invention. [Figure 12] 1 illustrates the concept of a central console unit controlling multiple sets of VACOM devices according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] One or more specific or alternative embodiments of the present invention will now be described with reference to the accompanying drawings. However, it will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Some details have been omitted so as not to obscure the present invention.

[0032] In an embodiment of the present invention, a compliant soft extension actuator 101, 201 is used and is shown in FIGS.

[0033] Components of the present invention include a venous assist and contracture management (VACOM) system deployed with these soft inflatable elongate actuators 101, 201. Figure 1 shows a uniplanar symmetrical fishbone-shaped soft inflatable elongate actuator 101 before inflation, according to an embodiment of the present invention. When inflated with air, the soft inflatable elongate actuator 101 elongates substantially axially.

[0034] Another embodiment of the present invention, shown in Figure 2, is a soft inflatable actuator 201 having a circular cross section (with two planes of symmetry) and formed from a bellows structure. When inflated, the soft inflatable extensional actuator 201 functions similarly to the fishbone actuator 101 described above.

[0035] The inflatable extension actuators 101, 201 can be manufactured by molding, 3D printing, casting, or other manufacturing methods. The material of the extension actuator can be any type of polymer that allows the extension actuator to expand or contract substantially axially. The advantage of using such soft materials is that the actuator is mechanically compliant when applied to the human body.

[0036] The present invention includes applications for assisting limb rehabilitation, such as ankle flexion. In this application, extension actuators 101, 201 are configured as extension actuator assembly 410, as shown in FIG. 4. Two similar or dual extension actuators 101, 201 are simultaneously inflated or deflated, and the device assists in ankle dorsiflexion or plantarflexion, respectively. In one embodiment, the two extension actuators 101, 201 are each assembled within an actuator pouch 401.

[0037] 3A-3B show a lower limb ankle assist rehabilitation device 300 including two actuators 101, 201, a foot brace 302, a sensor 303, and a knee brace 304. In another embodiment, an intermittent pneumatic compression (IPC) device 305 is configured with three calf pouches 308, 309, and 310. The ankle assist rehabilitation device 300 and the IPC device 305 constitute a VACOM device 600. In FIG. 3B, arrows 1, 2, and 3 indicate that the calf pouches 308, 309, and 310 are sequentially inflated to promote blood flow from the foot toward the body. That is, the calf pouch 308, which is the lowest, is inflated, and the upper calf pouches 310 are inflated in a proximal direction away from the foot. Arrow 4 on the extension actuator assembly 410 indicates the direction of the direct axial force that causes the ankle to dorsiflex due to pneumatic inflation of the extension actuator assembly 410. Exhaustion of air from the extension actuator assembly 410 brings the foot into plantar flexion, as shown by arrow 5.

[0038] FIG. 4 illustrates an extension actuator assembly 410 according to an embodiment of the present invention. As shown in FIG. 4, two extension actuator assemblies 410 are configured within an actuator pouch 401. When inflated, the extension actuator assemblies 410 extend, pulling the foot brace 302 relative to the knee brace 304 to facilitate positive pressure dorsiflexion. When deflating, the extension actuator assemblies 410 contract to induce plantarflexion of the foot (i.e., the extension actuator assemblies return to their uninflated shape at atmospheric pressure). In another configuration, the extension actuator assemblies can be vacuum-assisted to speed up vacuum-assisted contraction. Alternatively, when one of the two extension actuator assemblies 410 is inflated (while the adjacent actuator assembly is not inflated), the ankle assist rehabilitation device 300 is configured to assist ankle eversion or inversion.

[0039] The intended application is acute rehabilitation of the limbs of immobile patients suffering from conditions such as stroke, paralysis, etc. The ankle assist rehabilitation device 300 can be attached to the lower limbs of the end user / patient while they are in bed in a hospital ward, allowing them to perform assistive ankle exercises while at rest.

[0040] Another application of the ankle assistive rehabilitation device 300 is to allow immobile end users to take the device home for home therapy. In this case, the intended user, such as a caregiver, can attach the device to the end user. As can be seen in Figures 3A-3B, the VACOM device 600 is configured to implement sensors 303 positioned around the plantar periphery to track foot movement in real time. Possible sensors include inertial measurement unit (IMU) sensors that can track multiple axes of foot kinematics and motion dynamics sensing. Another possible sensor is a load cell that can be used to adjust the load on the foot depending on joint stiffness.

[0041] The ankle assist rehabilitation device 300 will now be described with reference to FIG. 4, which shows the extension actuator assembly 410.

[0042] Two extension actuator assemblies 410 are disposed within a single actuator pouch 401. Figure 4 shows the actuator pouch 401 opened to expose the two extension actuator assemblies 410. Figure 4 illustrates the concept of inflation of the extension actuator assemblies 410 to tension when pressure is applied to induce dorsiflexion. Here, a buckle 404 connected to the associated foot brace 302 is positioned to dorsiflex the ankle. There may be one extension actuator assembly 410 disposed within a single actuator pouch 401.

[0043] 5A-5B illustrate the structure of the soft pneumatic extension actuator assembly 410. As shown, a strap 502 is looped around the extension actuator assembly 410, with both ends of the strap terminating in a buckle 404. FIG. 5B is an exploded view showing each end of the extension actuators 101, 201 open. Each open end is connected to a terminal ring 504 and a terminal cap 505. The terminal ring 504 is sealably connected to each open end of the extension actuators 101, 201, and the terminal ring 504 and the terminal cap 505 are also sealably connected. Preferably, the terminal ring 504 and the terminal cap 505 are provided to allow for quick connection and disconnection of the extension actuator assembly 410.

[0044] As mentioned above, the VACOM device 600 (composed of the limb rehabilitation device 300 and the IPC device 305) uses soft materials for the construction of its components so that the resulting VACOM device is lightweight and portable. Except for the polymeric extension actuator assembly 410 and pneumatic control box 601, the other components shown in FIG. 6 are constructed of fabric, fiber, or any combination of these materials, and the total weight of the wearable VACOM device 600 of the present invention is preferably less than 1 kg.

[0045] 6 shows the components of a VACOM device 600. The device includes a pneumatic control box 601, several pneumatic tubes 602, an intermittent pneumatic compression (IPC) device 305, two actuator pouches 401 each housing a pair of elongated actuator assemblies 410, a foot brace 302, and a knee brace 304. The actuator pouches 401 housing one actuator assembly 410 or a pair of elongated actuator assemblies 410, the foot brace 302, and the knee brace 304 constitute a wearable ankle assist rehabilitation device 300.

[0046] Before providing the VACOM, IPC, and ankle assist rehabilitation device to an end user or patient, two sets of ankle assist rehabilitation device 300 and IPC device 305 are typically prepared. To use the ankle rehabilitation device 300, first, the patient is fitted with knee brace 304 and foot brace 302. Then, actuator assembly 410 is connected to each knee brace 304 via a Velcro® strap and to each foot brace 302 via a buckle 404. Of course, other forms of attachment besides Velcro® and buckles can also be used. The foot brace 302 and / or knee brace 304 can be adjusted to fit the patient's anthropometric parameters.

[0047] Because the direct users of the devices 300, 305, and 600 are likely to be medical professionals, caregivers, and patients, the inventive system is designed to minimize operational challenges users face when using ankle rehabilitation, IPC, and VACOM devices. Specifically, attaching the inventive devices 300, 305, and 600 to the lower limb and operating the pneumatic control box 601 to initiate ankle assist exercise is simple. Because the extension actuator assembly 410 is pre-installed in the actuator pouch 401, users simply attach the inventive devices 300, 305, and 600 to the patient using a four-step procedure. Then, they can use the extension actuator assembly to increase limb range of motion and the IPC to mitigate deep vein thrombosis (DVT) and pulmonary embolism. The minimum time required for a new user to attach and detach the inventive devices to the intended end user is approximately two minutes. However, the present invention is not limited to this four-step procedure or two-minute timeframe.

[0048] Figure 7 shows the VACOM device 600, with the actuator assembly 410 placed in the actuator pouch 401 and connected to the knee brace 304 and foot brace 302, attached to the leg. The IPC device 305 is attached to the calf muscle. A pneumatic control box 601 for activating the exercise cycle is connected to the ankle assist rehabilitation device 300 and the IPC device 305 via pneumatic tubing 602. A visual display interface and buttons for turning the VACOM device 600 on and off are located on the pneumatic control box 601. For installation in a hospital ward, the pneumatic control box 601 can be hung from a trolley or the edge of a hospital bed. As described above, the knee brace 304 is first donned, followed by the foot brace 302. Then, the actuator assembly 410 is attached to the knee brace and foot brace, and the pneumatic tubing 602 between the extension actuator assembly 410 and the IPC device 305 is connected to the pneumatic control box 601.

[0049] 8 shows the wearable ankle assist rehabilitation device 300 attached to the lower leg. An exploded view of the components shows the foot brace 302, actuator assembly 410, strap 502, and actuator pouch 401. The exploded view also shows a tube connector 805 for connecting the pneumatic tube 602 to the pneumatic control box 601.

[0050] Pneumatic actuation or synchronization of the ankle assist rehabilitation apparatus 300 and the IPC device 305 is described in connection with Figures 9 and 10A-10B.

[0051] One of the novel features of this invention is the implementation of VACOM device 600 to apply ankle assist rehabilitation device 300 and IPC device 305 to a patient lying in a bed in a hospital ward, for example. The following are examples of pneumatic drive or synchronization scenarios that can be applied by the user through a single pneumatic control box 601:

[0052] 9 is a flowchart showing the intended application of the ankle assist rehabilitation device 300 and IPC 305 that make up the VACOM device 600 in separate pneumatically driven or synchronized control scenarios. The first step, step 901, is to determine whether there are any contraindications for using both the ankle assist rehabilitation device 300 and the IPC device 305. If there are contraindications, step 902 selects either the rehabilitation device 300 or the IPC device 305. If there are no contraindications, both the rehabilitation device 300 and the IPC device 305 can be attached to the user (e.g., the user's foot), allowing the VACOM device 600 to simultaneously perform the actions of dorsiflexing the ankle and compressing the calf muscles by changing the parameters of the pneumatic control box 601 in step 903. In another mode of operation, for example, the extension actuator assembly 410 is inflated to dorsiflex the ankle, and the IPC device 305 is depressurized, so that the IPC device 305 operates only while the ankle is plantarflexed (step 904). If necessary, such as when a contraindication occurs during use, either the rehabilitation device 300 or the IPC device 305 can be removed, leaving only either the rehabilitation device 300 or the IPC device 305 operable to flex the foot or compress the calf muscles.

[0053] 10A-10B illustrate the two possible control modes for operating the ankle assist rehabilitation apparatus 300 and the IPC device 305. FIG.

[0054] 10A, a first mode 1001 involves simultaneous dorsiflexion of the ankle and sequential compression of the calf muscles by the IPC device 305. A second mode 1002 involves deflating the extension actuator assembly 410 and sequential compression of the calf muscles during plantar flexion of the ankle.

[0055] 11 illustrates the concept of air pressure recycling, whereby positive exhaust pressure from the extension actuator assembly 410 is sent back to the air pressure line for inflating the IPC device 305, which operates at a lower air pressure. This is possible during alternate control of the rehabilitation apparatus 300 and the IPC device 305. Recycling the positive exhaust pressure reduces total power consumption. At the same time, exhaust from the extension actuator assembly 410 is not vented to the ambient environment, resulting in quieter operation of the VACOM device 600.

[0056] The present invention includes a combination device embodiment where many bedridden patients use these VACOM devices 600 in a common hospital ward environment.

[0057] As shown in FIG. 12, in step 1201, multiple VACOM devices 600, such as ankle assist rehabilitation devices 300 and IPC devices 305, are connected to separate patients. A central console 1202 operable to control a set of separate pneumatic VACOM devices 600 allows a single user to not only control device parameters but also collect data from all connected VACOM devices in a common hospital ward. Data can be transmitted wirelessly through the VACOM devices, eliminating the need for long cables. Data can be stored in real time on the central console 1202 or retrieved from the connected pneumatic control boxes 601 as needed by hospital users, such as nurses and therapists.

[0058] While the VACOM system for ankle rehabilitation has been described above, in another embodiment, the VACOM system can also be adapted for wrist rehabilitation. For example, a wrist-assisted rehabilitation device is also provided that operates on a similar principle to the ankle-assisted rehabilitation device 300 described above. Additionally, a series of compression devices for forearm rehabilitation are also provided that operate on a similar principle to the IPC device 305 described above.

[0059] Although the present invention has been described above with respect to various aspects and embodiments, it should be noted that the scope of the present invention is not limited to the above-described embodiments. The description of the embodiments of the present invention is provided solely to aid in the understanding of the principles of the present invention. Therefore, the present invention should not be construed as being limited to the described embodiments. Many changes, modifications, variations, and combinations of variations of the present invention disclosed in the description and drawings can be made to the present invention without departing from the scope of the present invention. For example, instead of the pair of extension actuator assemblies described above for wrist or ankle dorsiflexion and ankle plantarflexion, a single extension actuator assembly housed in one actuator pouch can be used.

Claims

1. A soft robotic device for limb rehabilitation, comprising: an extension actuator disposed within the actuator pouch; a brace for connecting both ends of the actuator pouch across a joint of the limb; a sensor for detecting movement of the joint of the limb; a controller that receives input from the sensor and outputs a signal to drive the extension actuator to dorsiflex or plantarflex the joint; Equipped with Soft robotics devices.

2. A soft robotic device for limb rehabilitation, comprising: two extension actuators arranged side by side within an actuator pouch; a sensor having a plurality of states based on each of a plurality of movement phases of a joint of the limb; a controller in communication with the sensor, receiving input from the sensor and outputting signals to drive the two extension actuators; a brace for connecting both ends of the actuator pouch across the joint of the limb; Equipped with The soft robotic device comprises: both extension actuators expand simultaneously to perform dorsiflexion of the joint; both extension actuators simultaneously contract to perform plantar flexion of the joint; One extension actuator expands and the other contracts to perform valgus or inversion of the joint; Operable to perform any of the following: Soft robotics devices.

3. The limbs are upper or lower limbs. The soft robotic device according to claim 1 or 2.

4. The extension actuator is pneumatically expandable. The soft robotic device according to claim 1 or 2.

5. The sensor is comprised of an inertial measurement unit (IMU) sensor having multiple axes for joint kinematics and motion dynamics sensing. The soft robotics device according to any one of claims 1 to 4.

6. The sensor is composed of a load cell that can measure the load applied to the joint depending on the stiffness of the joint. The soft robotic device according to any one of claims 1 to 5.

7. an intermittent pneumatic compression (IPC) device that can be attached to the arm muscles or calf muscles; Furthermore, the IPC is operable to minimize deep vein thrombosis or pulmonary embolism; The soft robotic device according to any one of claims 1 to 6.

8. The soft robotics device according to any one of claims 1 to 7; a pump for selectively inflating and deflating the extension actuator and / or IPC device; a control box for controlling the pump; a sensor for monitoring movement of the joint of the limb; a pouch containing the extension actuator; a brace that can be attached to the foot or hand; A brace that can be attached to the knee or elbow; Equipped with The soft robotic device is configured to synchronize the expansion or contraction of the extension actuator with the IPC device to perform rehabilitation exercises for a joint. Limb rehabilitation kit.

9. A series of IPC devices are placed in the calf for lower limb rehabilitation. The kit of claim 8.

10. The soft robotic device and the IPC device are independently controllable. The kit of claim 9.

11. A kit or kits of components according to any one of claims 8 to 10; a central console unit operable to receive data from each of the kits or kits of components and to control each kit individually or collectively; Equipped with A system for limb rehabilitation.

12. The IPC device is operable intermittently and sequentially in a direction away from the lower limb. A system according to claim 11 when dependent on claim 10.

13. The extensional actuator or the IPC device is made of a flexible elastomer, fabric, fiber, or any combination thereof.

13. A system according to claim 11 or 12.

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