Title:
SOFT WEARABLE ROBOT FOR ELBOW MOVEMENT FUNCTION REHABILITATION
Document Type and Number:
WIPO Patent Application WO/2023/015717
Kind Code:
A1
Abstract:
A soft wearable robot for elbow movement function rehabilitation, comprising a soft wearable robot body assembly (1), a cylinder (2), an electromagnetic proportional valve (3) and a controller (4), wherein the soft wearable robot body assembly (1) is composed of an outer-layer elbow sleeve (6), an inner-layer elbow sleeve (7), a flexible bending sensor (8) and a soft actuator assembly (5); and the soft actuator assembly (5) comprises a flexible tube (9), a first end sealing member (10), a second end sealing member (11), an air guide tube (12), a woven mesh sleeve (13), a first end fastener (14), a second end fastener (15), a first limiting layer (20), a second limiting layer (21), a joint extension layer (22) and a third limiting layer (23). The three limiting layers form a limiting structure having an elasticity modulus that is gradually changed at two sides, such that the movement characteristic of the soft actuator assembly (5) is consistent with the movement characteristic of the elbow of a human body, the tangential sliding between the soft actuator assembly (5) and the skin at an elbow joint of the human body is reduced, and the auxiliary force distribution is more uniform; and the joint extension layer (22) of the soft actuator assembly (5) has a certain axial ductility, which reduces the discomfort of the user.
Inventors:
XU BAOGUO (CN)
WANG JIAJIN (CN)
WANG XIN (CN)
WANG YIFEI (CN)
SONG AIGUO (CN)
WANG JIAJIN (CN)
WANG XIN (CN)
WANG YIFEI (CN)
SONG AIGUO (CN)
Application Number:
PCT/CN2021/124307
Publication Date:
February 16, 2023
Filing Date:
October 18, 2021
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
A61H1/02
Foreign References:
| CN107961139A | 2018-04-27 | |||
| CN112022623A | 2020-12-04 | |||
| CN107088884A | 2017-08-25 | |||
| CN111920649A | 2020-11-13 | |||
| CN110497396A | 2019-11-26 | |||
| US20200003088A1 | 2020-01-02 |
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. et al. (CN)
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