Wrist-hand orthosis

Abstract

Provided is a wrist-hand orthosis, which relates to the technical field of medical devices. The wrist-hand orthosis comprises a tensioning integrated finger sleeve, a pneumatic artificial muscle, and an inflation component. The tensioning integrated finger sleeve is capable of generating flexion / extension deformation by means of the contraction / extension of an elastic assembly on one side of a finger pulp. The pneumatic artificial muscle is arranged on one side of the finger pulp of the tensioning integrated finger sleeve. The pneumatic artificial muscle is in communication with the inflation component by means of an air guide tube. When a wrist joint performs a back extension action, the inflation component is driven to inflate, and the pneumatic artificial muscle inflates and contracts to drive a tensioning finger joint to flex. When the wrist joint performs a flexion action, the inflation component is driven to deflate, and the pneumatic artificial muscle deflates and extends to drive the tensioning finger joint to extend. The inflation component is suitable for being fixed on the back side of the wrist. The wrist-hand orthosis has the advantages of adjustable muscle strength, good adaptability, high patient activity, and the like. The wrist-hand orthosis has a good clinical effect of bidirectional assistance for finger flexion and extension, and thus is suitable for different stages of rehabilitation training requirements of stroke patients.

Description

Wrist-hand orthosis

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202411141621.1, filed on August 20, 2024, and entitled "Wrist-hand orthosis", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of medical devices, in particular to a wrist-hand orthosis. BACKGROUND

[0004] The hand motor dysfunction caused by cerebral apoplexy presents a high incidence in clinic, and the recovery process of hand dysfunction is difficult and slow, especially the recovery of distal fingers lags behind the proximal wrist joint, which seriously affects the daily life of patients. The muscle strength and muscle tension of stroke patients in the early flaccid stage are low, and the flexor muscle tension is abnormally high in the spastic stage, showing wrist flexion and finger flexion deformity, but the flexor muscle strength is low and still cannot actively flex the fingers.

[0005] Clinically, patients often use static fixed orthosis to prevent or correct wrist flexion and finger flexion deformity, but the static fixed orthosis limits the movement of the patient's hand, hinders functional exercise, and affects the rehabilitation process.

[0006] In the prior art, there is also a dynamic finger extension orthosis for fixing the wrist joint, which uses a steel wire to pull the fingers to assist in finger extension, but the dynamic finger extension orthosis can only assist the finger extension in one direction against the high tension of the flexor muscle, and the flexion needs 4-grade muscle strength to do resistance exercise, which can only be used for patients in the later stage of recovery with good hand function, and has certain limitations. SUMMARY

[0007] The main purpose of the present application is to provide a wrist-hand orthosis, which aims to realize bidirectional assistance of finger flexion and extension, improve the orthotic effect of the orthosis, and meet the rehabilitation training needs of stroke patients at different stages.

[0008] To achieve the above-mentioned purpose, the present application provides a wrist-hand orthosis, comprising:

[0009] a tensioned whole finger sleeve;

[0010] a pneumatic artificial muscle arranged on one side of the finger pulp of the tensioned whole finger sleeve; and

[0011] an inflation component in communication with the pneumatic artificial muscle through an air guide pipe; the inflation component is used to inflate the pneumatic artificial muscle when the wrist joint performs a dorsiflexion action, and the pneumatic artificial muscle is driven to contract and drive the tensioned finger joint to flex when inflated; and the inflation component is used to deflate the pneumatic artificial muscle when the wrist joint performs a flexion action, and the pneumatic artificial muscle is driven to lengthen and drive the tensioned finger joint to extend when deflated.

[0012] Optionally, the inflatable component comprises a wrist-driven inflatable cylinder, which is adapted to be fixed at the wrist.

[0013] Optionally, the inflatable component comprises an electric inflatable pump, which is in communication with the pneumatic artificial muscle.

[0014] Optionally, the wrist-hand orthosis further comprises a gas regulating valve, which is arranged on the gas guide pipe and used to regulate the gas pressure delivered to the pneumatic artificial muscle.

[0015] Optionally, the pneumatic artificial muscle comprises a flexor artificial muscle, a ulnar deviation artificial muscle and a radial deviation artificial muscle, the flexor artificial muscle is adapted to be arranged corresponding to the finger pulp, used to drive the finger joint to make flexion and extension movements; the ulnar deviation artificial muscle and the radial deviation artificial muscle are adapted to be arranged corresponding to the two sides of the finger respectively, used to drive the wrist joint to make ulnar deviation and radial deviation movements.

[0016] Optionally, the wrist-hand orthosis further comprises a back-of-hand protective pad and a wrist protective pad, the back-of-hand protective pad is adapted to be bound at the back of the hand, the wrist protective pad is arranged on the back of the wrist, and the back-of-hand protective pad and the wrist protective pad are hinged through a hinge.

[0017] Optionally, the wrist-hand orthosis further comprises a flexible bushing, which is used to cover the inflatable component and part of the gas guide pipe.

[0018] Optionally, the tensegrity finger sleeve is a spatial self-balancing tension system composed of discrete compression struts and continuous tensioned elastic components, a plurality of the discrete compression struts are connected to form a hollow sleeve-shaped finger sleeve body, the continuous tensioned elastic components comprise a finger pulp elastic component, a back-of-finger elastic component and two side edge elastic components, the finger pulp elastic component is the pneumatic artificial muscle arranged on the finger pulp side of the finger sleeve body, the back-of-finger elastic component is arranged on the back-of-finger side of the finger sleeve body, and the two side edge elastic components are arranged on the two side edges of the finger sleeve body; when the finger pulp elastic component contracts, the finger makes flexion movement; when the finger pulp elastic component elongates, the finger makes extension movement under the tension of the back-of-finger elastic component.

[0019] Optionally, the pneumatic artificial muscle is a hollow spiral-wound pneumatic artificial muscle, which is driven to contract or elongate by pressurized fluid, and the maximum contraction rate is 45%.

[0020] Optionally, the pneumatic artificial muscle is prepared by stretching, twisting, winding and heat treatment of a PVC hose.

[0021] In the technical solution of the present application, the wrist-hand orthosis comprises a tensioned whole finger sleeve, a pneumatic artificial muscle and an inflation component; the pneumatic artificial muscle is arranged at one side of the finger pulp of the tensioned whole finger sleeve, and the pneumatic artificial muscle is communicated with the inflation component through a gas guide pipe; when the wrist joint performs a dorsiflexion action, the inflation component is inflated, the pneumatic artificial muscle is contracted by inflation to drive the tensioned finger joint to flex; when the wrist joint performs a flexion action, the inflation component is deflated, the pneumatic artificial muscle is elongated by deflation to drive the tensioned finger joint to extend; the inflation component can adopt a wrist-driven inflation cylinder which is suitable to be fixed at the back side of the wrist. The present application provides a tensioned whole wrist-driven flexion and extension finger orthosis based on a pneumatic artificial muscle, which has the advantages of adjustable muscle strength, good adaptability and high patient initiative, and the dynamic wrist-hand orthosis has good clinical effect of bidirectional assistance of flexion and extension fingers, and is suitable for rehabilitation training needs of patients at different stages of cerebral apoplexy. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0023] Fig. 1 is a structural schematic diagram of an embodiment of the wrist-hand orthosis of the present application;

[0024] Fig. 2 is a structural schematic diagram of another embodiment of the wrist-hand orthosis of the present application;

[0025] Fig. 3 is a structural schematic diagram of still another embodiment of the wrist-hand orthosis of the present application;

[0026] Fig. 4 is a structural schematic diagram of still another embodiment of the wrist-hand orthosis of the present application;

[0027] Fig. 5 is an enlarged view of the gas regulating valve in Fig. 4;

[0028] Fig. 6 is a principle diagram of an embodiment of the wrist-hand orthosis of the present application.

[0029] Explanation of reference numerals: 10, tensioned whole finger sleeve; 20, pneumatic artificial muscle; 30, inflation component; 40, gas guide pipe; 50, gas regulating valve; 61, back of hand protection pad; 62, wrist protection pad; 63, hinge; 64, flexible bushing.

[0030] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0031] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0032] It should be noted that all directional indications, such as upper, lower, left, right, front, back, and the like, used in the embodiments of the present application are only used to explain the relative position relationship, movement condition and the like between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0033] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0034] In addition, the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those of ordinary skill in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0035] The present application provides a tensegrity wrist-driven flexion and extension finger orthosis based on pneumatic artificial muscle.

[0036] Referring to FIG. 1 to FIG. 6, in some embodiments of the present application, the wrist-hand orthosis comprises a tensile whole finger sleeve 10, a pneumatic artificial muscle 20, and an inflation component 30; the pneumatic artificial muscle 20 is arranged on the side of the finger pulp of the tensile whole finger sleeve 10; the inflation component 30 is in communication with the pneumatic artificial muscle 20 through a gas guide pipe 40; the inflation component 30 is used to inflate the pneumatic artificial muscle 20 when the wrist joint is performing a dorsiflexion action, and the pneumatic artificial muscle 20 is driven to contract to drive the tensile finger joint to flex; the inflation component 30 is used to deflate the pneumatic artificial muscle 20 when the wrist joint is performing a flexion action, and the pneumatic artificial muscle 20 is driven to stretch to drive the tensile finger joint to extend.

[0037] In the present embodiment, the tensile whole finger sleeve 10 can adopt a hollow sleeve structure, and the number of the tensile whole finger sleeve 10 and the pneumatic artificial muscle 20 thereon is at least one, which is not limited herein. The pneumatic artificial muscle 20 is a hollow spiral winding type, which can be prepared by stretching, twisting, winding and heat treatment, and the material and manufacturing process are not limited herein. As shown in FIG. 6, since the pneumatic artificial muscle 20 is a macaroni type structure, a hollow channel is formed in the inside, which can be driven to contract or stretch by pressurized fluid, and the maximum contraction rate can reach 45%.

[0038] The inflation component 30 can comprise a wrist driving inflation cylinder which is suitable to be fixed at the wrist. Preferably, the wrist driving inflation cylinder can be placed on the back side of the wrist, the gas guide pipe can be placed on the finger pulp (the palm side), and the proximal end of the gas guide pipe can be wound to the back side from the metacarpophalangeal joint or the wrist joint. It is worth mentioning that when the wrist driving inflation cylinder is arranged on the inner side of the wrist, the wrist-hand orthosis will affect the patient's grasping action, which is not conducive to the normal progress of the recovery training.

[0039] Referring to the human hand anatomy structure, the key muscles are added to the human hand musculoskeletal model according to the principle of “tendon effect” in the present application. On the basis of the simplified musculoskeletal model, the stress and deformation of each bone, muscle and joint under the conditions of wrist joint dorsiflexion and flexion are analyzed through the wrist joint dorsiflexion dynamics simulation. Among them, the bones or muscles with small stress and deformation during the active dorsiflexion movement of the wrist joint have small contribution to the “tendon effect”, which can be removed from the overall hand musculoskeletal biomechanical model, so as to obtain the key wrist structures involved in the “tendon effect”. Finally, the key wrist structures are optimized by using the shape-finding optimization algorithm to obtain the equivalent model of the tensile mechanism of the human wrist and hand.

[0040] The present application can adopt the spiral-wound pneumatic artificial muscle 20 as the elastic component of the wrist-hand orthosis to realize the muscle force adjustability. The most significant feature of the tensegrity mechanism is that the structural stiffness is determined by the pre-tightening force level of the elastic component, and the stiffness of the tensegrity finger cuff 10 is adjusted by adjusting the pre-tightening force of the elastic component, thereby realizing the muscle force adjustability of the wrist-hand orthosis. The spiral-wound pneumatic artificial muscle 20 has many skeletal muscle characteristics, such as high power density, large output force, high response speed, etc., and the spiral-wound pneumatic artificial muscle 20 is simple to drive, and can be inflated and deflated by a gas cylinder. Through the dorsiflexion and flexion movement of the wrist joint, the gas cylinder can be inflated and deflated.

[0041] To realize the individual customization of the tensegrity wrist-driven flexion-extension finger orthosis and match the finger orthosis needs of different groups of people, the 3D printing technology can be used to manufacture the physical prototype model of the wrist-driven flexion-extension finger orthosis. To ensure the lightweight of the orthosis, the 3D printing technology is used to manufacture the rod structure of the tensegrity finger cuff 10. Then, according to the related size parameters of the pneumatic artificial muscle 20 calculated by the dynamics analysis, such as the initial original length and the deformation length, the pneumatic artificial muscle 20 and other elastic components are pre-stretched to the specified length and connected to each node of the tensegrity wrist-hand orthosis. At the same time, according to the gas amount required by the pneumatic artificial muscle 20 and the specific wrist joint conditions of the user, the related size data of the inflation component 30 are set, such as the volume and starting position of the air pump, the width of the attachment port, etc.

[0042] It can be understood that, by setting the inflation component 30, the present application inflates the pneumatic artificial muscle 20 when the wrist joint performs the dorsiflexion action, drives the pneumatic artificial muscle 20 to contract and drive the tensegrity finger joint to flex, and deflates the pneumatic artificial muscle 20 when the wrist joint performs the flexion action, drives the pneumatic artificial muscle 20 to elongate and drive the tensegrity finger joint to extend, thereby realizing the bidirectional assistance of the flexion-extension finger, greatly improving the orthotic effect of the orthosis, and meeting the rehabilitation training needs of stroke patients at different stages.

[0043] To further improve the orthotic effect of the orthosis and meet the needs of rehabilitation training in more situations, in an embodiment, the tensegrity finger cuff 10 is a spatial self-balancing tension system composed of discrete compression rods and continuous tension elastic components. The multiple discrete compression rods are connected to form a hollow sleeve-shaped finger cuff body to simulate the phalanges. The continuous tension elastic components include the finger pulp elastic component, the finger back elastic component, and the two side edge elastic components to simulate the muscles and fascia. The finger pulp elastic component is the above-mentioned pneumatic artificial muscle 20 arranged on one side of the finger pulp of the finger cuff body. The finger back elastic component is arranged on one side of the finger back of the finger cuff body. The two side edge elastic components are respectively arranged on the two side edges of the finger cuff body. When the finger pulp elastic component contracts, the finger performs flexion movement. When the finger pulp elastic component elongates, the finger performs extension movement under the tension of the finger back elastic component.

[0044] In the embodiment, the back-of-finger elastic component and the two side elastic components can be elastic ropes, which are arranged along the length direction of the finger sleeve body. The elastic rope at the back of the finger provides a pulling force to pull back the finger sleeve body to the stretched state when the pneumatic artificial muscle 20 is stretched. The elastic ropes at the two sides are used to maintain balance and keep the stability of the tension system. Each elastic rope cooperates with the pneumatic artificial muscle 20 to work, which helps to improve the orthopedic effect.

[0045] In an embodiment, mainly referring to FIGS. 4 and 5, the wrist-hand orthosis can further include a gas adjusting valve 50 arranged on the gas guide pipe 40 and used to adjust the gas pressure delivered to the pneumatic artificial muscle 20. Specifically, in order to adapt to different action requirements of the patient in different periods of the rehabilitation process, a multi-position adjustable gas valve can be installed at the gas inlet of each finger and between the fingers. The size of the gas passage, the required power of the gas in and out, and the action amplitude and range can be adjusted according to the function and action requirements of the user, so as to realize the simple and easy training difficulty level.

[0046] In addition, the orthosis can select multiple action modes, and the two-finger pinch and three-finger pinch in which a specific finger participates can be selected autonomously. The part of the pneumatic artificial muscle 20 that does not participate can be detached. For example, if the user needs to train or achieve the pinch of the thumb and the index finger, the gas valves corresponding to the other fingers can be closed, and only the gas valves of the thumb and the index finger can be started to perform the pinch action.

[0047] Based on the above embodiment, the pneumatic artificial muscle 20 can include a flexion-extension artificial muscle, a ulnar deviation artificial muscle, and a radial deviation artificial muscle. The flexion-extension artificial muscle is suitable to be arranged corresponding to the finger pulp and used to drive the finger joint to perform flexion and extension actions. The ulnar deviation artificial muscle and the radial deviation artificial muscle are suitable to be arranged corresponding to the two sides of the finger respectively and used to drive the wrist joint to perform ulnar deviation and radial deviation actions. In this way, the activities of the finger in different directions can be controlled more finely, and the activities of the whole part of the finger in the ulnar and radial directions can be controlled in combination with the gas valve. That is, the wrist-hand orthosis of the present application can also perform ulnar deviation and radial deviation in addition to flexion and extension.

[0048] In order to improve the comfort of wearing the wrist-hand orthosis and ensure the stability of the driving action of the air cylinder during wrist movement, mainly referring to FIG. 3, in an embodiment, the wrist-hand orthosis can further include a back-of-hand protective pad 61 and a wrist protective pad 62. The back-of-hand protective pad 61 is suitable to be bound at the back of the hand, and the wrist protective pad 62 is arranged on the back of the wrist. The back-of-hand protective pad 61 and the wrist protective pad 62 are hinged by a hinge 63.

[0049] In the embodiment, the wrist-hand orthosis can further include a flexible bushing 64, which is used to cover the inflatable component 30 and part of the gas guide pipe 40.

[0050] Specifically, low-temperature thermoplastic plates can be used to make the corresponding half-wrapped palm and distal forearm plates. The back of the hand protection pad 61 and the wrist protection pad 62 at the wrist joint are connected by a corresponding suitable hinge 63 that ensures the flexion and extension of the wrist joint is not restricted. This hinge 63 can be selected to be installed or not installed according to the patient's rehabilitation needs, and can be used to limit the ulnar deviation and radial deviation of the wrist joint to prevent abnormal movement patterns of the joint. A gas pump with a flexible material pad installed on the plate is used to drive the spiral winding pneumatic artificial muscle 20, which changes the distance between the starting points on the back of the palm and the distal forearm to achieve the inflation and deflation of the artificial muscle.

[0051] In addition, in some other application scenarios, for patients with poor wrist function, the wrist drive air cylinder can be placed more proximally, such as the elbow, shoulder, etc., or an electric air pump or myoelectric signal can be added to increase the driving force and further improve the correction effect, which helps to expand the population of the wrist-hand orthosis.

[0052] In summary, the present application aims to overcome the limitations of traditional orthoses, and proposes to design a tensioned wrist-driven flexor-extensor finger (bidirectional) orthosis with adjustable muscle strength based on the current emerging technology-tensioned whole theory. The tensioned whole theory believes that the human body is a tension system formed by muscle and fascia lines and bones. The wrist-driven flexor-extensor finger orthosis designed based on the tensioned whole theory is more in line with the movement characteristics of the normal human wrist-hand "tendon effect". Secondly, the spiral winding pneumatic artificial muscle 20 can realize real-time adjustable muscle strength of the orthosis, and through wrist extension / flexion, the air cylinder is inflated and deflated, the spiral winding pneumatic artificial muscle 20 can realize contraction deformation when inflated, and elongation deformation when deflated, thereby realizing adjustable muscle strength and assisting flexor-extensor fingers. The present application provides a tensioned whole wrist-driven flexor-extensor finger orthosis based on pneumatic artificial muscle 20, which has the advantages of adjustable muscle strength, good adaptability, and high patient initiative. The dynamic wrist-hand orthosis has good clinical effect of bidirectional assistance of flexor-extensor fingers, and is suitable for the rehabilitation training needs of patients at different stages of stroke.

[0053] The above-described only optional embodiments of the present application, and do not limit the patent scope of the present application, any equivalent structural transformation made by using the contents of the present application specification and drawings, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A wrist-hand orthosis, characterized in that The wrist-hand orthosis comprises: a tensegrity finger sleeve; a pneumatic artificial muscle arranged on one side of the finger pulp of the tensegrity finger sleeve; a gas charging component in communication with the pneumatic artificial muscle through a gas guide pipe, the gas charging component being used to charge the pneumatic artificial muscle when the wrist joint is performing a dorsiflexion movement, and the pneumatic artificial muscle is driven to contract and drive the tensegrity finger joint to flex; and the gas charging component being used to deflate the pneumatic artificial muscle when the wrist joint is performing a flexion movement, and the pneumatic artificial muscle is driven to stretch and drive the tensegrity finger joint to extend. The gas charging component comprises a wrist driving gas cylinder which is adapted to be fixed at the wrist.

2. The wrist-hand orthosis of claim 1, wherein The gas charging component comprises an electric gas pump which is in communication with the pneumatic artificial muscle.

3. The wrist-hand orthosis of claim 1 or 2, characterized in that The wrist-hand orthosis further comprises a gas regulating valve arranged on the gas guide pipe and used to regulate the gas pressure delivered to the pneumatic artificial muscle.

4. The wrist-hand orthosis of claim 1, wherein, The pneumatic artificial muscle comprises a flexion and extension artificial muscle, a ulnar deviation artificial muscle and a radial deviation artificial muscle, the flexion and extension artificial muscle being adapted to be arranged corresponding to the finger pulp and used to drive the finger joint to perform flexion and extension movements, and the ulnar deviation artificial muscle and the radial deviation artificial muscle being adapted to be arranged corresponding to the two sides of the finger respectively and used to drive the wrist joint to perform ulnar deviation and radial deviation movements.

5. The wrist-hand orthosis of claim 1, wherein, The wrist-hand orthosis further comprises a back hand protection pad adapted to be bound at the back of the hand and a wrist protection pad arranged on the back side of the wrist, and the back hand protection pad and the wrist protection pad are hinged through a hinge.

6. The wrist-hand orthosis of claim 1, wherein, The wrist-hand orthosis further comprises a flexible bushing used to cover the gas charging component and part of the gas guide pipe.

7. The wrist-hand orthosis of claim 6, wherein The tensegrity finger sleeve is a spatial self-balancing tension system composed of discrete compression struts and continuous tension elastic components, a plurality of the discrete compression struts are connected to form a hollow sleeve-shaped finger sleeve body, the continuous tension elastic components comprise a finger pulp elastic component, a finger back elastic component and two side edge elastic components, the finger pulp elastic component is the pneumatic artificial muscle arranged on one side of the finger pulp of the finger sleeve body, the finger back elastic component is arranged on one side of the finger back of the finger sleeve body, and the two side edge elastic components are arranged on the two side edges of the finger sleeve body respectively; when the finger pulp elastic component contracts, the finger performs a flexion movement; when the finger pulp elastic component stretches, the finger performs an extension movement under the tension of the finger back elastic component.

8. The wrist-hand orthosis of claim 1, wherein, The pneumatic artificial muscle is a hollow spiral winding type pneumatic artificial muscle which is driven to contract or stretch by pressurized fluid, and the maximum contraction rate is 45%.

9. The wrist-hand orthosis of claim 1, wherein, The pneumatic artificial muscle is made of a PVC hose through stretching, twisting, winding and heat treatment.

10. The wrist-hand orthosis of claim 1, wherein, ​

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