Wearable soft robot device for shoulder joint assistance

Abstract

A wearable soft robot device (100) for shoulder joint assistance. The wearable soft robot device (100) comprises a protective garment (10) made of textile; an anchoring assembly (20); and a pneumatic artificial muscle assembly (30), the pneumatic artificial muscle assembly (30) being fixed on the protective garment (10) by means of the anchoring assembly (20) for driving the lifting of the arms.

Description

Wearable soft robotic device for shoulder joint assistance Technical Field

[0001] The disclosure of this application relates to the field of auxiliary power assistance technology, and in particular to a wearable soft robot device for shoulder joint assistance. Background Art

[0002] High-intensity, high-repetition, and continuous static muscle load work environments have led to an increasing number of occupational diseases, a typical example of which is work-related musculoskeletal disorders (WMSDs). WMSDs have been on the rise in recent years. High-intensity, repetitive physical labor with monotonous movements is a significant risk factor for work-related musculoskeletal disorders.

[0003] In recent years, the research on wearable robots has provided a new approach to solving this problem. However, existing wearable robots have problems such as complex structure, bulkiness, and high cost.

[0004] Currently, the primary type of robot used for human assistance is an exoskeleton. These robots are primarily made of metal, which can be bulky and heavy, making them difficult to use in everyday life. Furthermore, the exoskeleton is often made of metal or other rigid materials, which not only limits the robot's freedom of movement but also poses safety risks, such as limb injury if improperly worn. Furthermore, the complex structure and generally expensive materials of exoskeletons have limited their current adoption, limiting their application in fall prevention.

[0005] Summary of the Invention

[0006] In order to solve at least one aspect of the above-mentioned problems and defects in the prior art, the present invention provides a wearable soft robotic device for shoulder joint assistance, which solves the problems that the existing wearable robotic device is bulky, complex in structure and cannot effectively reduce muscle activity.

[0007] According to one aspect of the present invention, a wearable soft robotic device with shoulder joint assistance is provided, the wearable soft robotic device comprising:

[0008] Protective clothing made of textiles;

[0009] Anchoring components;

[0010] A pneumatic artificial muscle assembly is fixed to the protective suit through the anchor assembly to drive the lifting of the arm.

[0011] Compared with traditional exoskeleton robots, the wearable soft robotic device proposed in this invention has at least the following technical advantages:

[0012] 1. The biomimetic properties of the pneumatic artificial muscle material are a key design consideration. These materials typically possess elastic properties that match those of biological tissue and are lightweight. Compared to traditional rigid exoskeletons, the wearable soft robotic device of this invention offers greater freedom and can actively or passively change its form based on the external environment.

[0013] 2. 3D printing technology allows for customized wearable soft robotic devices of varying sizes, with geometric shapes that adapt to different human muscles and bones. This reduces potential physical damage to human limbs and makes them more wearable. Flexible actuators for soft robotics, such as the pneumatic artificial muscles used in this invention, can be fabricated using a simple process, significantly reducing system costs and shortening product development cycles.

[0014] 3. The technical solution of the present invention designs the arrangement of the pneumatic artificial muscle PAM in a manner similar to that of human muscles, so that the PAM can provide assistance to the arm without affecting the movement of the arm, and the assistance effect meets the requirements of ergonomics.

[0015] 4. In order to effectively fix the PAM on the protective clothing, an anchoring assembly is used. Each anchor in the anchoring assembly is provided with a fixing hole for fixing it to the protective clothing. A groove is provided on the top surface or side surface of the protrusion on the anchor to accommodate a part of the PAM. Metal buckles can be used to fix them in the groove and lock them.

[0016] 5. The anchor assembly is also provided with a splint for firmly fixing it to the arm. The splint is fastened to the arm with a cable tie. The splint and the corresponding anchor are used to pull the arm up or down during the actuation of the PAM.

[0017] 6. The wearable soft robotic device of the present invention can provide power support for users in work scenarios, and to a certain extent reduce work-related musculoskeletal injuries caused by repetitive physical labor with high labor intensity and single movements.

[0018] Other objects and advantages of the present invention will become apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of the preferred embodiments taken in conjunction with the accompanying drawings, in which:

[0020] FIG1 shows a wearable soft robotic device with shoulder joint assistance according to an embodiment of the present invention;

[0021] FIG2 shows a first anchor according to one embodiment of the present invention;

[0022] FIG3 shows a second anchor according to one embodiment of the present invention;

[0023] FIG4 shows a third anchor according to one embodiment of the present invention;

[0024] FIG5 shows a fourth anchor according to one embodiment of the present invention;

[0025] FIG6 shows a control principle diagram of a shoulder-assisted wearable soft robotic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be further described in detail below through examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as limiting the present invention.

[0027] Furthermore, in the following detailed description, for ease of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. However, it will be apparent that one or more embodiments can be practiced without these specific details.

[0028] Referring to Figure 1 , according to one aspect of the present invention, a wearable soft robotic device 100 with shoulder joint assistance is provided. The wearable soft robotic device 100 comprises a protective garment 10 made of textiles, an anchor assembly 20, and a pneumatic artificial muscle assembly 30. The pneumatic artificial muscle assembly 30 is secured to the protective garment 10 via the anchor assembly 20 and is used to assist in lifting the arm. This assists the arm in completing the lifting task, regardless of load, thereby minimizing damage to the arm muscles.

[0029] In one example, the wearable soft robotic device 100 further includes a portable pneumatic control assembly 50 . The portable pneumatic control assembly 50 is configured to drive the pneumatic artificial muscle assembly 30 .

[0030] The wearable soft robotic device 100 of the present invention is suitable for adults.

[0031] Protective clothing 10

[0032] This wearable soft robotic device 100 is primarily designed to provide assistive torque when a person is performing manual load-lifting tasks. The protective suit 10 can be worn on the human body and, because it is made of textiles, is flexible. This prevents unintended injuries during subsequent arm-lifting operations, unlike exoskeleton robots, which are prone to accidental injuries.

[0033] The protective suit 10 is not limited to a specific form and can be similar to existing protective suits designed to protect motorcyclists, as shown in FIG1 . The specific structure is not described in detail here. The protective suit 10 is a basic component of the wearable soft robotic device 100 of the present invention.

[0034] At least one hard shell portion is provided at a position of the protective suit 10 where the anchor assembly 20 is required to be provided, and the hard shell portion is used to cooperate with the anchor assembly 20 .

[0035] In one example, the form of the protective clothing 10 can be set as needed, and can be provided with sleeves or without sleeves. For example, in the example of FIG1 , the protective clothing 10 is provided in the form of a protective jacket.

[0036] Pneumatic artificial muscle assembly 30

[0037] The pneumatic artificial muscle assembly 30 is driven by a portable pneumatic control assembly 50 and includes at least one pneumatic artificial muscle. In this example, it includes four pneumatic artificial muscles 31, 32, 33, and 34, which are used to simulate the anterior deltoid, middle deltoid, and posterior deltoid bundles and the supraspinatus muscle group, respectively.

[0038] The four pneumatic artificial muscles may be customized McKibben pneumatic artificial muscles (PAMs), or may be any feasible pneumatic artificial muscles known in the art.

[0039] The pneumatic artificial muscle primarily consists of an elastomeric hose and a fiber tube surrounding it. When the central elastomeric hose is inflated, its diameter expands and its length contracts, causing the outer fiber tube to contract, thus contracting itself. By varying the air pressure and inflation time of the air supply, the distance the pneumatic artificial muscle contracts and the force it exerts can be altered. Since this pneumatic artificial muscle is well known in the art, its structural details will not be discussed in detail.

[0040] Pneumatic artificial muscles (PAMs) are designed to generate assistive forces. These PAMs can deform in response to pressure changes and provide linear assistive forces at joints.

[0041] In one example, four design factors of a pneumatic artificial muscle (PAM) can influence the magnitude of the force generated: the length of the PAM, its outer shell material, the PAM's intertube diameter, and variations in air pressure. PAMs are constructed with an outer shell (e.g., a fiber tube with an 18 mm diameter) containing a rubber tube with an inner diameter of 6 mm and an outer diameter of 9 mm. The intertube diameter refers to the diameter of the outer shell. The PAM length is designed to be approximately 30 cm based on anthropometric data of the shoulder and upper arm of an adult Chinese male. A metal shell with an intertube diameter of φ-18 mm has the highest force-to-pressure ratio. At an air pressure of 0.12 MPa, it can generate approximately 50 N. Shell materials can include metal and nylon. However, when using a metal shell, the deformation of the metal mesh is unevenly affected, resulting in sudden changes in PAM deformation, which can negatively impact PAM control. Therefore, a nylon shell with an intertube diameter of φ-18 mm and an inner rubber tube with an inner diameter of 6 mm and an outer diameter of 9 mm are preferred. When the air pressure increases above 0.2 MPa, the effect on the PAM deformation and assist force is minimal. Therefore, for further applications, the pressure level is set to 0.2 MPa.

[0042] Portable Pneumatic Control Assembly 50

[0043] 1 and 2 , the portable pneumatic control assembly 50 is used to perform power control on the pneumatic artificial muscle assembly 30 , and is composed of a miniature air compressor 51 (e.g., an air pump), an air storage tank 52 , an embedded control system 53 , a power supply component (e.g., a battery) 54 , and three inertial measurement units (IMUs) 55 . The inertial measurement units 55 are used for body motion sensing and provide real-time input signals for the control of the portable pneumatic control assembly 50 .

[0044] In one embodiment, the three inertial measurement units 55 are respectively arranged on the upper arm, wrist and waist of the person wearing the protective suit 10, as shown in Figure 1. In this way, when the upper arm, wrist and waist of the person have any movement, the movement of the person can be sensed in real time.

[0045] The embedded control system 53 includes a pressure gauge 531 connected to the gas tank 52, a solenoid valve 532 that controls the opening and closing of the gas tank 52, and a control panel 533 (as shown in FIG6 ) that controls the solenoid valve 532. The gas tank 52 is connected to the four pneumatic artificial muscles 31, 32, 33, and 34 through the solenoid valve 532 and a manifold (not shown). Thus, when the gas pressure in the pneumatic artificial muscles 31, 32, 33, and 34 is changed, a driving force can be generated. In addition to the ESP 32, the embedded control system 53 also includes a corresponding MOS control element 534. The solenoid valve 532 can, for example, comprise a two-position, three-way solenoid valve.

[0046] Gas tank 52 is used to store gas from the micro-air compressor during the pneumatic artificial muscle's movements, improving the device's operating efficiency. Furthermore, the gas stored in tank 52 can alleviate the problem of high gas flow during the "burst contraction" of the pneumatic artificial muscle. In one example, tank 52 can be made of steel or plastic.

[0047] The portable pneumatic control assembly 50 also includes a bleed valve 56. This valve is connected to the solenoid valve 532 to release air. For example, when the pneumatic artificial muscle transitions from contraction to relaxation, the valve 56 releases gas from the system. The bleed valve 56 can include a copper muffler, which reduces noise compared to direct exhaust from the nozzle.

[0048] The portable pneumatic control assembly 50 is powered by a 24V lithium battery and weighs 4.25kg. A portion of the battery voltage is regulated to 5V for use by the control board 533, while the remaining voltage is passed to the MOS control element 534 to drive the solenoid valve 532 and the micro air compressor.

[0049] Wearable Design-Anchor Component 20

[0050] A major difficulty and challenge in designing the wearable robotic device of the present invention is to ensure that the PAMs provide ergonomically correct assistance to the user. The key to achieving this goal lies in at least: (1) determining the specific number, fixed direction, and specific fixed position of the PAMs around the shoulder based on bionic principles. The fixed position of the PAMs determines the direction and method of the assistance, and determines whether the assistance to lift the arm can be effectively achieved; (2) how to effectively transmit the assistance generated by the PAMs to the human body, that is, how to overcome the absorption effect of the flexible protective clothing, reinforcement blocks, and hard shell on the assistance generated by the PAMs.

[0051] For the key issue (1), a biomimetic design was first adopted, using three PAMs 31, 32, and 33 to simulate the deltoid muscles and one PAM 34 to simulate the supraspinatus muscle. These muscle groups are the main muscle groups when raising the arm and are prone to injury. Therefore, the fixing directions of the four PAMs 31, 32, 33, and 34 were determined by simulating the biomimetic structures of the deltoid and supraspinatus muscles. Subsequently, the specific positions of the four PAMs 31, 32, 33, and 34 were determined through biomechanical experiments.

[0052] In one example, the specific positions of the four PAMs 31, 32, 33, and 34 are designed as follows:

[0053] One end of PAM 31, 32, and 33 is positioned above the shoulder, along the coronal plane of the human body, 7.5 cm from the center of the acromion angle (the outermost part of the shoulder) on the inner side of the body (this distance is approximately the center point of the line connecting the acromion angle to the ipsilateral side of the neck based on ergonomics); the other end is positioned on the outer side of the arm, 22.5 cm from the acromion angle (the outermost part of the shoulder) (this distance is approximately 3 / 4 of the distance from the elbow to the acromion angle based on ergonomics).

[0054] One end of the PAM 34 is set to be approximately 3 cm below the midpoint of the line connecting the left and right acromial angles, and the other end is set to be located on the outside of the arm, 22.5 cm from the center of the shoulder joint;

[0055] Regarding the key issue (2) (how to effectively transmit the power generated by the PAM to the human body), the present invention adopts the first to fourth anchors 21, 22, 23, 24, and their structural designs are as follows:

[0056] First anchor 21

[0057] The first anchor 21 is fixed to the reinforcement block 40 , which is configured to be arc-shaped and fits the human arm, such as the upper arm. The ends of four artificial pneumatic muscles 31 , 32 , 33 , and 34 are fixed to the first anchor 21 .

[0058] In an alternative embodiment, to better secure the first anchor 21 to the arm, a reinforcement block 40 fixedly connected to the first anchor 21 may be provided. The reinforcement block 40 may be a cushion, a reinforcing layer, or a plastic block, for example. In this embodiment of the present invention, only the reinforcement block 40 is shown as being provided on the arm, thereby helping to better secure the first anchor 21 and enabling the artificial pneumatic muscle assembly 30 to more effectively transmit force to the arm during operation. It will be appreciated that the reinforcement block 40 may also be arranged to connect to other components, such as the second anchor 22 or the third anchor 23, as needed.

[0059] Referring to Figure 2 , the first anchor 21 is rectangular and includes a first surface 211 and a second surface 212 opposite the first surface 211. The first surface 211 is curved to fit the shoulder. A first protrusion 213 is provided on the second surface 212, extending through the first anchor 21. Three first grooves 214 are provided on at least one side of the first protrusion 213. As shown in the figure, the three first grooves 214 are located on the side closest to the shoulder joint to facilitate installation.

[0060] The three pneumatic artificial muscles 31, 32, and 33 for simulating the deltoid muscles are fixed sequentially within the three first grooves 214, following the arrangement of human muscles. The pneumatic artificial muscle 34 for simulating the supraspinatus muscles is fixed in the middle first groove 214 of the three first grooves 214, so that the four pneumatic artificial muscles are arranged in the same manner as the muscles of the human shoulder. Alternatively, the four pneumatic artificial muscles 31, 32, 33, and 34 can be arranged sequentially as shown in the figure, that is, from left to right in the figure.

[0061] The arrangement of the first groove 214 here enables the straps installed at the ends of the pneumatic artificial muscles 31 , 32 , 33 , 34 to be installed around the first groove 214 , thereby ensuring that no relative position movement occurs during the process of applying force.

[0062] A first fixing hole 215 is provided in the middle of the second surface 212 of the first anchor 21, near the first protrusion 213. In one embodiment, the number of first fixing holes 215 can be four or more, for example, four hexagonal first fixing holes 215. Each first fixing hole 215 is mounted with a nut, which is then secured to the protective suit 10 by a screw or bolt. This prevents loosening or falling off during use and also facilitates disassembly, installation, and replacement.

[0063] The first surface 211 is configured to be arc-shaped, which can ensure that it fits closely with the reinforcement block 40 , so that the pneumatic artificial muscle has a better effect and a more comfortable feel when in operation.

[0064] Specifically, the first surface 211 of the first anchor 21 fits the protective suit 10, the opening direction of the first groove 214 is set facing the shoulder, and the installation position of the first anchor 21 is located on the outside of the arm, 22.5 cm away from the acromion angle (the outermost side of the shoulder), and is preferably installed at a position of about 22.5 cm. Of course, technical personnel in this field can adjust the installation distance as needed.

[0065] Second anchor 22

[0066] The second anchor 22 is fixed to the hard shell portion (not shown) of the protective suit 10 at an upper position corresponding to the human shoulder. The other ends of three artificial pneumatic muscles 31, 32, and 33 for simulating deltoid muscles are fixed to the second anchor 22.

[0067] Referring to Figure 3 , the second anchor 22 is rectangular and includes a first surface 221 and a second surface 222 opposite the first surface 221. The first surface 221 is curved to fit the shoulder. A second protrusion 223 is centrally located on the second surface 222. A second groove 224 is located in the middle of the second protrusion 223 for securing the other ends of the three artificial pneumatic muscles 31, 32, and 33.

[0068] In one example, the other ends of the three artificial pneumatic muscles 31 , 32 , 33 are placed in the second groove 224 , and a U-shaped metal buckle (not shown) is installed on the upper portion thereof, which is then fixed and tightened by nuts and screws.

[0069] Mounting holes 228 are provided at both ends of the second protrusion 223. These mounting holes 228 extend through the first surface 221 of the second anchor 22 to provide a cavity for receiving a fixing member (e.g., a nut). In one embodiment, a portion of the structure at the location of the first surface 221 is hollowed out to accommodate the nut, thereby preventing part of the nut from protruding outside the second anchor 22.

[0070] The first surface 221 of the second anchor 22 is configured to be curved to match the human shoulder. In addition to the second protrusion 223, the second anchor 22 may also be provided with at least one second fixing hole 225. This second fixing hole 225 is secured to the hard shell portion of the shoulder of the protective suit 10 via a nut and screw. As shown, two rows of second fixing holes 225 may be provided, each row containing, for example, seven, though this number may be greater or less.

[0071] Specifically, the longitudinal direction of the second anchor 22 is arranged perpendicular to the extension direction of the shoulder, and the installation position of the second anchor 22 is about 3 cm below the midpoint of the line connecting the left and right acromion angles. Of course, those skilled in the art can adjust the installation distance as needed.

[0072] The third anchor 23

[0073] The third anchor 23 is fixed to the hard shell portion of the protective suit 10 corresponding to the middle position of the human back near the neck. The other end of the artificial pneumatic muscle 34 for simulating the supraspinatus muscle group is fixed to the third anchor 23.

[0074] Referring to Figure 4 , the third anchor 23 is a bilaterally symmetrical polygonal shape, comprising a first surface 231 and a second surface 232 opposite the first surface 231. The first surface 231 is arcuately shaped to conform to the shoulder. Third protrusions 233 are provided on both ends of the second surface 232, and a third groove 234 is positioned midway between the protrusions 233 to secure the other end of the artificial pneumatic muscle 34 simulating the supraspinatus muscle group.

[0075] In one example, the third groove 234 on the left side of the third anchor 23 is used to secure an artificial pneumatic muscle for assisting force application for one arm, while the third groove 234 on the right side is used to secure an artificial pneumatic muscle for assisting force application for the other arm. Therefore, the third anchors 23 are preferably arranged in a bilaterally symmetrical manner to achieve a more balanced force application process.

[0076] In one example, the other end of the artificial pneumatic muscle 34 for simulating the supraspinatus muscle group is placed in one of the third grooves 234 and is clamped and fixed by a nut, screw, U-shaped buckle or saddle buckle. A third mounting hole 238 is provided on the top surface of the third groove 234.

[0077] A plurality of third fixing holes 235 are provided on a middle portion of the second surface 232 of the third anchor 23 , and the plurality of third fixing holes 235 are mounted on the hard shell portion on the back of the protective suit 10 .

[0078] The third protrusion 233 is provided with third mounting holes 238 at both ends. The third mounting holes 238 extend through the first surface 231 of the third anchor 23 to provide a cavity for accommodating a third mounting member (e.g., a nut). In one embodiment, a portion of the structure at the location of the first surface 231 is hollowed out to accommodate the nut, thereby preventing part of the nut from protruding outside the third anchor 23.

[0079] Fourth anchor 24

[0080] 5 , the fourth anchor 24 is a splint 24 that clamps the first anchor 21 to the arm. Referring to FIG5 , the splint 24 includes a first surface 241 proximal to the arm and a second surface 242 opposite the first surface 241. The first surface 241 is curved to match the arm.

[0081] A plurality of fixing buckles 243 are provided on the second surface 242 of the splint 24 , for example, the plurality of fixing buckles 243 are arranged at the four corners of the fourth anchor 24 , thereby allowing a nylon braid 245 with a width of, for example, 20 mm to pass through, thereby clamping the arm at the first anchor 21 .

[0082] A plurality of fourth fixing holes 244 may be further provided on the clamping plate 24 . The fourth fixing holes 244 may be evenly distributed on the clamping plate 24 , and may be fixed to the hard shell portion of the protective suit 10 , for example, by a screw-nut structure.

[0083] A flexible cushioning layer, such as three layers of flexible sponge, is provided on the first surface 241 of the splint 24 to enhance wearing comfort. In one example, a magnetic buckle is provided on the outside of the splint 24 to secure the splint 24 to the arm. The magnetic buckle is provided to facilitate release during removal and facilitate fastening during wear.

[0084] The splint 24 is installed at a position just below the upper arm of the arm opposite to the first anchor 21, 20-28 mm away from the armpit, for example, 24 mm away.

[0085] The first anchor 21 can be better clamped on the arm by providing the splint 24 , for example, by being fixedly connected to the first anchor 21 through two nylon loops.

[0086] In an alternative embodiment, a carbon fiber plate can be placed between the second and third anchors 22 and 23 and the hard shell portion of the protective suit 10. This can disperse the forces acting on the second or third anchors 22 and 23, preventing stress concentration and damage. Carbon fiber plates are characterized by high strength, high elasticity, ease of bending, and light weight. In one example, the carbon fiber plate is placed on the outside of the protective suit 10.

[0087] The present invention adopts the above-mentioned anchor assembly 20, which has the following characteristics:

[0088] (a) An anchor assembly 20 comprises four anchors: a first anchor 21, a second anchor 22, a third anchor 23, and a fourth anchor 24. These four anchors can be custom 3D-printed anchor structures, which securely anchor the PAMs 31, 32, 33, and 34 in their designated locations. The specific structure and number of anchors are determined by the anatomy of different limbs (e.g., arms and shoulders), the number of PAMs to be secured, and the amount of PAM force they must withstand and transmit.

[0089] In one example, there are three different designs of anchors (a first anchor 21 , a second anchor 22 , and a third anchor 23 ).

[0090] It should be noted that the first to fourth anchors 21, 22, 23, 24 are all fixed to the reinforcement block 40 of the reinforcement layer or the hard shell portion using, for example, M3 screws and nuts. U-shaped tube buckles with, for example, a diameter of 12 mm are used to fix the PAM.

[0091] When the first to fourth anchors 21, 22, 23, 24 are directly mounted or disposed on the reinforcement block 40 or the hard shell portion, some of the force generated by the PAMs 31, 32, 33, 34 can still be absorbed by the elastic deformation of the textile material, resulting in a reduction in the force. To minimize this adverse effect, in one example, a carbon fiber reinforcement layer or carbon fiber plate (e.g., 300 mm × 100 mm × 0.5 mm) can be added and securely connected to the textile base fabric using, for example, M3 screws and nuts.

[0092] Finally, to ensure the arm can be effectively lifted by the assistance provided by PAMs 31, 32, 33, and 34, a fourth anchor 24 is employed, in the form of a custom-made splint (e.g., 150 mm long and 90 mm wide). This splint 24 can be secured using, for example, four 20 mm wide nylon straps. Two magnetic buckles are located on the outside of this splint 24, allowing for easy release during removal and tightening during installation, thus facilitating assistance. A sponge is placed between the inside of the splint 24 and the arm to enhance comfort.

[0093] Another challenge is the portability and wearability of the wearable soft robotic device 100. Portability depends largely on the setting of the air source. Considering that the required air pressure level is 0.2MPa and the gas flow rate is about 12L per minute. Currently, there is no micro air compressor in the prior art that can meet this technical requirement. The micro air compressor 51 used in the present invention can provide an instantaneous air pressure of 0.25MPa. However, this type of air compressor 51 is limited by the air flow rate and cannot meet this technical requirement.

[0094] Therefore, in one example, the present invention addresses the issue of gas flow rate by providing continuous air pressure using a gas tank. Testing revealed that a low-cost plastic gas tank (e.g., 500ml) made of disposable plastic can meet the design requirements. Testing under repeated PAM deformation conditions revealed that the plastic gas tank 52 can provide the required air pressure and gas flow rate after repeated deformation cycles.

[0095] To ensure that the lower parts of the pneumatic artificial muscles 31, 32, 33, and 34 can fit tightly against the protective suit 10, because the surface of the protective suit 10 has, for example, a hard outer shell, the first to fourth anchors 21, 22, 23, and 24, for example, printed by 3D printing, can be installed thereon by means of screws and nuts.

[0096] To accommodate the size and shape of the pneumatic artificial muscles, a second anchor 22 is provided at the upper portion of the shoulder. It has a fixing hole sized to match the hard shell of the protective suit 10, allowing for attachment. A second groove 214 at the top of the first anchor 21 can accommodate several pneumatic artificial muscles, such as four pneumatic artificial muscles 31, 32, 33, and 34. These muscles are then secured together using another metal buckle.

[0097] After fixation, since the first anchor 21 is located at the lower part of the shoulder, the length of the pneumatic artificial muscles 31, 32, 33, and 34 is shortened during contraction, and the fixed end of the first anchor 21 applies force upward or obliquely upward.

[0098] The second anchor 22 can be manufactured using 3D printing. A nut secures the second anchor 22 to the rigid housing. After the pneumatic artificial muscles 31, 32, and 33 are installed in the middle of the second groove 224, their upper portions are secured with a metal buckle, securing the pneumatic artificial muscles 31, 32, and 33 within the second anchor 22. This prevents relative movement of the pneumatic artificial muscles 31, 32, and 33 during force application.

[0099] At the lower part of the shoulder, because the function of the pneumatic artificial muscle is to assist the shoulder joint movement in lifting, a first anchor 21 needs to be set so that the pneumatic artificial muscles 31, 32, 33, and 34 can be installed on the hard shell of the protective suit 10 through the cable tie fixed on one end thereof.

[0100] To enable the multiple pneumatic artificial muscles 31, 32, 33, and 34 to provide tension in different directions, three first grooves 214 were designed to provide fixed positions on the front, middle, and rear portions of the first anchor 21. This allows cable ties to secure the pneumatic artificial muscles 31, 32, 33, and 34 to the first anchor 21. This design also allows the tension to be indirectly transmitted to the arm during the contraction of the pneumatic artificial muscles 31, 32, 33, and 34, thereby assisting in lifting the arm. This special design of the first anchor 21 ensures that the required lifting force is achieved.

[0101] In order to fit tightly with the hard shell of the protective suit 10, the first anchor 21 installed at the lower part of the shoulder is fixed to the reinforcement block 40 using screws with a diameter of, for example, 3 mm. In order to prevent the reinforcement block 40 and the first anchor 21 from falling off during use, multiple screws, for example, four screws, are used for fixing.

[0102] Similarly, a third anchor 23 is designed and disposed on the back of the human body to fix one end of a pneumatic artificial muscle 34 simulating the supraspinatus muscle group.

[0103] In order to better pull up the arm, a fourth anchor 24 , namely an arm splint, is provided at the first anchor 21 .

[0104] Sensing and Control

[0105] The sensing and control principle of the wearable soft robot device of the present invention is shown in Figure 6. The control described here refers to electrical control, which mainly includes the following two modules: a pneumatic control module and a sensor module. The sensor module uses a BNO-0559-axis IMU sensor for posture detection and is powered by an independent power supply (such as a 3.7V lithium-ion battery). The pneumatic control module uses an ESP32 system-on-chip (SoC) as the main control chip. It receives commands and changes the GPIO pin level. The solenoid valve 532 is controlled by a gate drive circuit connected to the MOSFET to achieve pneumatic control. The entire wearable soft robot device 100 is connected to the WiFi network generated by the same router to ensure that all electronic components are in the same local area network (LAN).

[0106] Three IMUs 55 are installed on the waist, lower arm, and wrist of a person wearing the wearable soft robotic device 100 to estimate the arm's lifting angle. When the angle reaches a threshold, the solenoid valve opens, shortening the pneumatic muscle and pulling up the first anchor 21, thereby raising the arm.

[0107] To verify the system's effectiveness in reducing muscle fatigue, EMG sensors were used to monitor muscle activity in the supraspinatus, posterior deltoid, medial deltoid, and anterior deltoid. To ensure a secure fit between the EMG sensors and the body, conductive adhesive was used to enhance their conductivity after installation. Ties were then used to secure the sensors to prevent them from falling off, further strengthening their fit. Two load-lifting conditions were tested: lifting the arms without additional weight and lifting the arms with a 2 kg weight.

[0108] During the test, the subjects sat upright and lifted a weight to their side with their arms. The EMG signals generated under each test condition were compared. The results showed that muscle activity differed between the upper arm without the additional weight and the upper arm with the 2k weight. Clearly, the additional weight required a higher degree of muscle contraction. When the wearable soft robotic device 100 provided the assistive force, the EMG amplitudes of all tested muscle groups decreased significantly. This reduction was observed in both test conditions.

[0109] Therefore, it is shown that the wearable soft robotic device of the present invention is effective in reducing muscle activity. Therefore, the present invention can potentially be used to prevent muscle fatigue around the shoulder joint under repetitive and heavy-bearing work tasks.

[0110] In the present invention, by integrating robotic technology and adopting ergonomic principles, an efficient wearable soft robotic device is designed to effectively assist users in completing load lifting tasks.

[0111] This wearable soft robotic device has great potential in preventing work-related musculoskeletal disorders.

[0112] This paper investigates three aspects: system design, pneumatic artificial muscles (PAMs) design, and wearable design. The result is a low-cost, wearable soft robotic device designed to assist with load-lifting tasks. Experiments have shown that this wearable soft robotic device is effective in reducing muscle activity. Therefore, it has the potential to prevent muscle fatigue around the shoulder joint during repetitive and heavy-loaded tasks.

[0113] Compared with traditional exoskeleton robots, the wearable soft robotic device proposed in this invention has at least the following technical advantages:

[0114] 1. The biomimetic properties of the pneumatic artificial muscle material are a key design consideration. These materials typically possess elastic properties that match those of biological tissue and are lightweight. Compared to traditional rigid exoskeletons, the wearable soft robotic device of this invention offers greater freedom and can actively or passively change its form based on the external environment.

[0115] 2. 3D printing technology allows for customized wearable soft robotic devices of varying sizes, with geometric shapes that adapt to different human muscles and bones. This reduces potential physical damage to human limbs and makes them more wearable. Flexible actuators for soft robotics, such as the pneumatic artificial muscles used in this invention, can be fabricated using a simple process, significantly reducing system costs and shortening product development cycles.

[0116] 3. The technical solution of the present invention designs the arrangement of the pneumatic artificial muscle PAM in a manner similar to that of human muscles, so that the PAM can provide assistance to the arm without affecting the movement of the arm, and the assistance effect meets the requirements of ergonomics.

[0117] 4. In order to effectively fix the PAM on the protective clothing, an anchoring assembly is used. Each anchor in the anchoring assembly is provided with a fixing hole for fixing it to the protective clothing. A groove is provided on the top surface or side surface of the protrusion on the anchor to accommodate a part of the PAM. Metal buckles can be used to fix them in the groove and lock them.

[0118] 5. The anchor assembly is also provided with a splint for firmly fixing it to the arm. The splint is fastened to the arm with a cable tie. The splint and the corresponding anchor are used to pull the arm up or down during the actuation of the PAM.

[0119] 6. The wearable soft robotic device of the present invention can provide power support for users in work scenarios, and to a certain extent reduce work-related musculoskeletal injuries caused by repetitive physical labor with high labor intensity and single movements.

[0120] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A wearable soft robot device with shoulder joint assistance, the wearable soft robot device comprising: Protective clothing made of textiles; Anchoring components; A pneumatic artificial muscle assembly is fixed to the protective clothing through the anchor assembly to drive the lifting of the arm.

2. The wearable soft robotic device according to claim 1, wherein: The wearable soft robotic device also includes a reinforcement block or a hard shell portion of the protective suit that is fixedly connected to the anchor assembly, the reinforcement block includes a hard shell, a buffer pad, or a plastic block, the reinforcement block is attached to the shoulder joint, and the hard shell portion is arranged on the protective suit.

3. The wearable soft robotic device according to claim 2, wherein: The wearable soft robotic device further comprises a portable pneumatic control assembly configured to drive the pneumatic artificial muscle assembly. The pneumatic artificial muscle assembly comprises four pneumatic artificial muscles, and the four pneumatic artificial muscles are used to simulate the anterior deltoid muscle bundle, the middle deltoid muscle bundle, the posterior deltoid muscle bundle and the supraspinatus muscle group respectively.

4. The wearable soft robotic device according to claim 3, wherein: The portable pneumatic control assembly includes a micro air compressor, an air storage tank, an embedded control system, a power supply component and three inertial measurement units for human motion sensing. The three inertial measurement units are respectively arranged on the upper arm, wrist and waist of the human body wearing the protective clothing.

5. The wearable soft robotic device according to claim 4, wherein: The embedded control system includes a pressure gauge connected to the gas tank, a solenoid valve for controlling the switch of the gas tank, and a control panel for controlling the solenoid valve. The gas tank is connected to four pneumatic artificial muscles respectively through the solenoid valve and then through the manifold.

6. The wearable soft robotic device according to claim 5, wherein: The gas storage tank comprises a steel gas storage tank or a plastic gas storage tank.

7. The wearable soft robotic device according to any one of claims 1 to 6, wherein: The anchor assembly includes a first anchor, a second anchor, a third anchor and a fourth anchor for fixing four artificial pneumatic muscles.

8. The wearable soft robotic device according to claim 7, wherein: The first anchor is fixed on the reinforcing block at the lower part of the human shoulder, and the ends of four artificial pneumatic muscles are fixed on the first anchor.

9. The wearable soft robotic device according to claim 8, wherein: The first anchor is in a rectangular form, comprising a first surface and a second surface opposite to the first surface, the first surface of the first anchor being in an arc shape adapted to the shoulder, a first protrusion penetrating the first anchor being arranged on the second surface, three first grooves being arranged on at least one side of the first protrusion, the three pneumatic artificial muscles for simulating the deltoid muscle being fixed in sequence in the three first grooves according to the muscle arrangement of the human body, and the pneumatic artificial muscle for simulating the supraspinatus muscle group being fixed in the middle first groove of the three first grooves, so that the four pneumatic artificial muscles are arranged in the same manner as the muscles of the human shoulder.

10. The wearable soft robotic device according to claim 9, wherein: A first fixing hole is provided in the middle of the second surface of the first anchor member at a position close to the first protrusion; The first surface is configured to be arc-shaped; The first anchor is installed at a distance of 18-26 cm from the center of the shoulder.

11. The wearable soft robotic device according to any one of claims 7 to 10, wherein: The second anchor is fixed on the hard shell part of the protective suit at the upper position corresponding to the human shoulder, and the other ends of three artificial pneumatic muscles for simulating deltoid muscles are fixed on the second anchor.

12. The wearable soft robotic device according to claim 11, wherein: The second anchor is in a rectangular form, and includes a first surface and a second surface opposite to the first surface. The first surface of the second anchor is in an arc shape adapted to the shoulder. A second protrusion arranged in the middle is provided on the second surface of the second anchor. A second protrusion for fixing three artificial pneumatic muscles is provided in the middle position of the second protrusion. A second groove is formed at the other end of the second groove.

13. The wearable soft robotic device according to claim 12, wherein: The other ends of the three artificial pneumatic muscles are placed in the second groove through a U-shaped metal buckle. Both ends of the second protrusion are provided with mounting holes, and a cavity for accommodating a fixing member is provided at a position where the mounting hole passes through the first surface of the second anchor member; The first surface of the second anchor is configured to be a curved surface matching a human shoulder.

14. The wearable soft robotic device according to claim 13, wherein: The second anchoring piece is also provided with at least one fixing hole in the part other than the second protrusion, and the fixing hole is fixedly connected to the hard shell part of the shoulder of the protective clothing by the cooperation of a nut and a screw; The second anchor is installed at a distance of 6-10 cm from the center of the shoulder.

15. The wearable soft robotic device according to any one of claims 7 to 14, wherein: The third anchor is fixed on the hard shell part of the protective suit corresponding to the middle position of the back of the human body close to the neck, and the other end of the artificial pneumatic muscle for simulating the supraspinatus muscle group is fixed on the third anchor.

16. The wearable soft robotic device according to claim 15, wherein: The third anchor is a polygon that is symmetrical on both sides. The third anchor includes a first surface and a second surface opposite to the first surface. The first surface of the third anchor is an arc shape that is adapted to the shoulder. Third protrusions are arranged on the left and right ends of the second surface of the third anchor. A third groove is arranged in the middle position of the third protrusion for fixing the other end of the artificial pneumatic muscle simulating the supraspinatus muscle group.

17. The wearable soft robotic device according to claim 16, wherein: The other end of the artificial pneumatic muscle used to simulate the supraspinatus muscle group is placed in one of the third grooves and is clamped and fixed by connecting the U-shaped buckle with a nut and screw; A plurality of third fixing holes are provided on the middle portion of the second surface of the third anchor, and the plurality of third fixing holes are mounted on the hard shell portion of the back of the protective suit; The third protrusion is provided with third mounting holes at both ends, and a cavity for accommodating the third mounting piece is provided at a position where the third mounting hole passes through the first surface of the third anchor piece.

18. The wearable soft robotic device according to any one of claims 7 to 17, wherein: The fourth anchor is a splint for clamping the first anchor on the arm, wherein the splint comprises a first surface close to the arm, and the first surface close to the arm presents an arc shape matching the arm.

19. The wearable soft robotic device according to claim 18, wherein: The splint comprises a second surface opposite to the first surface. A plurality of fixing buckles are arranged on the second surface of the splint, allowing a webbing to pass through and clamp the arm of the protective clothing.

20. The wearable soft robotic device according to claim 19, wherein: The clamping plate is provided with a plurality of fourth fixing holes, and the fourth fixing holes are evenly arranged on the clamping plate; A flexible cushion layer is arranged on the first surface of the splint.

21. The wearable soft robotic device according to claim 20, wherein: The splint is installed at a position just below the upper arm of the arm opposite to the first anchor, 20-28 mm away from the armpit.

22. The wearable soft robotic device according to any one of claims 2 to 21, wherein: A carbon fiber plate is provided at the connection position between the anchor assembly and the protective suit, and the carbon fiber plate is provided on the outside of the protective suit.

Images