CN104490562B - Wearable U-shaped limbs power-assisted air bag and preparation method thereof - Google Patents
Wearable U-shaped limbs power-assisted air bag and preparation method thereof Download PDFInfo
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- CN104490562B CN104490562B CN201410758621.6A CN201410758621A CN104490562B CN 104490562 B CN104490562 B CN 104490562B CN 201410758621 A CN201410758621 A CN 201410758621A CN 104490562 B CN104490562 B CN 104490562B
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- 238000002360 preparation method Methods 0.000 title abstract description 3
- 238000000034 method Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 5
- 210000002310 elbow joint Anatomy 0.000 abstract description 13
- 210000000323 shoulder joint Anatomy 0.000 abstract description 5
- 208000012661 Dyskinesia Diseases 0.000 abstract description 2
- 208000010428 Muscle Weakness Diseases 0.000 abstract description 2
- 206010028372 Muscular weakness Diseases 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 229920003023 plastic Polymers 0.000 abstract 1
- 239000004033 plastic Substances 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 7
- 210000003127 knee Anatomy 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 238000005273 aeration Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention provides wearable U-shaped limbs power-assisted air bag and preparation method thereof, belong to disabled aiding robot technical field of helping the elderly.It is that U-shaped limbs power-assisted air bag is worn at human synovial, controls to provide power-assisted for human synovial by the air pressure in air bag, it is adaptable to cause the patient of dyskinesia because of muscle weakness.This U-shaped air bag includes the U-shaped air bag of plastics, air bag fixing band and valve, is made by heat seal Joining Technology.Realize fixing by elastic cord through the fixed cover being sewn on clothes and VELCRO during wearing.By being worn on different parts, it is possible to realize the flexion/extension of shoulder joint, the abduction/adduction of shoulder joint, the flexion/extension of elbow joint, elbow joint medial rotation/rotation is outer, kneed flexion/extension, the flexion/extension of waist, the altogether air assisted of 6 groups of actions.
Description
Technical field
The invention belongs to disabled aiding robot technical field of helping the elderly, be that U-shaped limbs power-assisted air bag is worn on human body
Joint (elbow joint, shoulder joint, waist, knee joint), to close for human body by the air pressure in regulation air bag
Joint provides power-assisted, it is adaptable to cause patient's (mostly being old people) of dyskinesia because of muscle weakness.
Background technology
Help the elderly at present disabled aiding robot technical field, provide for human body limb in the technical scheme of power-assisted and mainly have
Power driven system and the big class of pneumatic system two.Wherein power driven system is because being difficult to overcome mechanism's complexity, machine driving
Chain length, the control of power output are difficult to and the shortcomings such as poor stability, it is difficult to commercialization.And pneumatic system
System, although simple in construction, safety are good, but industrial aluminum cylinder, ice-cold firm, it is not suitable for wearing
It is worn on the body of people.Recently also there is the research utilizing anisotropic material to manufacture soft bending cylinder, but
Its manufacturing process is complicated, and anisotropic material cost is high, and the angle of bend of cylinder is the biggest, it is difficult to meet
The requirement used.Additionally, also have some to utilize wearable air bag to make the report of protective garment, but it is only capable of making
Use for inflating protection, it is impossible to for the purposes for human body limb power-assisted.
Summary of the invention
The present invention proposes the design of wearable U-shaped limbs power-assisted air bag, it is proposed that have reverse reverting merit
The design of the U-shaped air bag of energy, gives the processing step making U-shaped air bag.The present invention gives and can wear
The concrete method of wearing of the U-shaped air bag of formula of wearing.By U-shaped limbs power-assisted air bag being worn on the difference of coat
Position, it is possible to realize the flexion/extension of shoulder joint, the abduction/adduction of shoulder joint, the flexion/extension of elbow joint, elbow joint
Medial rotation/rotation is outer, kneed flexion/extension, the flexion/extension of waist, the altogether air assisted of 6 groups of actions.
Technical scheme is as follows:
The structure of wearable U-shaped limbs power-assisted air bag is as shown in Figure 1.Solid including U-shaped air bag 1, air bag
Surely band 2 and valve 3.U-shaped air bag 1 is by front U-shaped cylinder 4, left U-shaped cylinder 5, right U-shaped cylinder 6 and rear U
Type tube 7 heat bonding forms.Before the two ends cylinder 5 U-shaped with a left side respectively of U-shaped cylinder 4, the connecing of right U-shaped cylinder 6
Contravention is that 90 degree of docking heat seals connect, the two ends of rear U-shaped cylinder 7 cylinder 5 U-shaped with a left side, right U-shaped cylinder the most respectively
The contact jaw of 6 is that 90 degree of docking heat seals connect.Each U-shaped cylinder by the U-shaped monolithic of two plane cuttings along two
Side heat bonding is formed.Go back heat bonding on U-shaped air bag 1 and have a plurality of air bag fixing band 2, in order to enter with clothes
Row binding.It is provided with valve 3 at the top of rear U-shaped cylinder 7.During use, elastic cord 10 is through consolidating on clothes
Surely set 9 and U-shaped air bag 1 on air bag fixing band 2, fixed by the VELCRO on elastic cord 10.
Described U-shaped air bag uses thick Polypropylence Sheet to make.
The structure of U-shaped air bag presents space multistory moulding.The most forward and backward U-shaped cylinder part can be in lower section
Hold limbs, it is simple to undertake the weight of limbs；And left and right U-shaped cylinder part is positioned at limbs both sides, can press from both sides
Handle limbs and prevent air bag from relative rolling occurring with limbs.
As in figure 2 it is shown, present soft unable its flat presentation after the flat gas of U-shaped air bag, to limb after air bag deflation
Body does not produce support or effect of contraction.
There is the structure of U-shaped air bag of reverse reverting function as shown in Figure 3.At described U-shaped air bag 1
Two ends are provided with the reverse U-shaped cylinder 8 that reverse two ends seal, and reverse U-shaped cylinder 8 is provided with valve 3, reverse U
Type tube 8 is the most airtight with described U-shaped air bag 1 not to be connected.When reverse U-shaped cylinder 8 is inflated, and U-shaped gas
When capsule 1 is exitted, whole U-shaped airbag apparatus will be able to bend by the rightabout to the U-shaped prefabricated direction of air bag 1.
This pressure Quick air-discharge contributing to U-shaped air bag 1 and Rapid reset, it is adaptable to be worn on ancon or knee.
The binding method of U-shaped air bag 1 and health is as shown in Figure 4.Elastic cord 10 is through consolidating of being sewn on clothes
Surely the fixing band 2 on set 9 and U-shaped air bag 1, is fixed by VELCRO on elastic cord 10 11.Use this
Method can be with three elastic cords.
Aforementioned U-shaped air bag can obtain with thick Polypropylence Sheet burst cutting heat seal, and making step is as shown in figure 16.
First, thickness Polypropylence Sheet is cut into U-shaped monolithic 23, then heat seal upper gasbag fixing band 2；Then by two
U-shaped monolithic heat seal is a U-shaped cylinder in the right side 5；Four the U-shaped cylinders made by above-mentioned technique afterwards, i.e. front U
Type tube 4, right U-shaped cylinder 5, left U-shaped cylinder 6, rear U-shaped cylinder 7.By the two ends of front U-shaped cylinder 4 respectively with the right side
U-shaped cylinder 5 cylinder U-shaped with a left side 6 docks heat bonding, right U-shaped cylinder 5 and the U-shaped cylinder in a left side 6 in space angle
Additionally two ends dock heat bonding with rear U-shaped cylinder 7 in space angle respectively, simultaneously by valve 3 heat seal,
Make the finished goods 1 of U-shaped air bag.Its structure presents space multistory moulding.
Accompanying drawing explanation
Fig. 1 is the essential structure figure of wearable U-shaped limbs power-assisted air bag.
Fig. 2 is wearable U-shaped limbs power-assisted air bag flat gaseity schematic diagram.
Fig. 3 is the structural map of the U-shaped air bag with reverse reverting function.
Fig. 4 is the binding method schematic diagram of U-shaped air bag and health.
Fig. 5 is that front schematic view dressed by the U-shaped air bag of unaerated.
Fig. 6 is that side schematic view dressed by the U-shaped air bag of unaerated.
Fig. 7 is U-shaped air bag wearing front schematic view after inflation.
Fig. 8 is U-shaped air bag wearing side schematic view after inflation.
Fig. 9 is waist flexion/extension power-assisted air bag unaerated stooped over position figure.
Figure 10 is straight waist state diagram after the inflation of waist flexion/extension power-assisted air bag.
Figure 11 is state side schematic view after shoulder flexion/extension airbag aeration.
Figure 12 is state front schematic view after shoulder flexion/extension airbag aeration.
Figure 13 is the method for wearing schematic diagram of elbow joint inside/outside rotation air bag.
Figure 14 is that upper limb elbow joint outward turning power-assisted air bag dresses design sketch.
Figure 15 is that upper limb elbow joint inward turning power-assisted air bag dresses design sketch.
Figure 16 .U type air bag fabrication processing schematic diagram.
In figure: 1U type air bag；2 air bag fixing bands；3 valves；U-shaped cylinder before 4；5 left U-shaped cylinders；
6 right U-shaped cylinders；U-shaped cylinder after 7；8 reverse U-shaped cylinders；9 fixed covers；10 elastic cords；
11 VELCRO；12 waist flexion/extension power-assisted air bags；13 shoulder abduction/interior receipts power-assisted air bag；
14 ancon flexion/extension power-assisted air bags；15 knee flexion/extension power-assisted air bags；16 shoulder flexion/extension air bags；
17 elbow joint inside/outside rotation air bags；18 elastic cords；19 fixing bands；20 VELCRO；
The flat gaseity binding schematic diagram of 21 upper limb elbow joint outward turning power-assisted air bags；
The flat gaseity binding schematic diagram of 22 upper limb elbow joint inward turning power-assisted air bags；
23U type monolithic.
Detailed description of the invention
The detailed description of the invention of the present invention is further illustrated below in conjunction with accompanying drawing and technical scheme.
The manufacture method of the present invention, is not limited to heat bonding mode, it is also possible to other bonding mode.
As shown in Figure 5, Figure 6, by similar method, U-shaped air bag can be clothed to each position,
Become waist flexion/extension power-assisted air bag 12, shoulder abduction/interior receipts power-assisted air bag 13, ancon flexion/extension power-assisted air bag 14,
Knee flexion/extension power-assisted air bag 15.Fig. 7, Fig. 8 show shoulder abduction/interior receipts power-assisted air bag 13, ancon bend/
Stretch power-assisted air bag 14, the knee flexion/extension power-assisted air bag 15 form after inflation.Wearing can be made respectively
The upper arm of person lifts, front brachiocylloosis, knee joint bending.Fig. 9, Figure 10 show waist flexion/extension power-assisted air bag
12 forms before and after inflation.The waist that can make bending is straight and upright, alleviates the burden of waist muscle.
As shown in Figure 11, Figure 12, by the two ends of shoulder flexion/extension air bag 16 respectively with consolidating of being sewn on clothes
Determine band to be connected, the power-assisted action making shoulder lift forward can be realized the most after inflation.
The wearing mode of elbow joint inside/outside rotation air bag 17 is as shown in figure 13.Air bag 17 is revolved at elbow joint inside/outside
The most each heat seal in inner side have two fixing bands 19, upper and lower two elastic cords 18 through after upper and lower fixing band 19,
Together with being tightened with upper arm and forearm by the VELCRO 20 at two ends.As shown in Figure 14, Figure 15, do not filling
Reversing the most to the right under gaseity and pricked on forearm by elastic cord, position is as shown in Figure 14 21.Or
Person is pricked on forearm by elastic cord to left handed twist, and position is as shown in Figure 15 22.After inflation, elbow closes
In joint, outward turning air bag 17 will reversely produce the moment of torsion of reset, orders about arm and produces the power-assisted outside medial rotation/rotation, such as figure
14, shown in the right figure in Figure 15.
Claims (3)
1. a wearable U-shaped limbs power-assisted air bag, it is characterised in that this wearable U-shaped limbs power-assisted
Air bag includes U-shaped air bag, air bag fixing band and valve；U-shaped air bag is by front U-shaped cylinder, left U-shaped cylinder, the right side
U-shaped cylinder and rear U-shaped cylinder heat bonding form；Front the two ends cylinder U-shaped with a left side respectively of U-shaped cylinder, right U-shaped cylinder
Contact jaw be 90 degree docking heat seals connect, the two ends of rear U-shaped cylinder cylinder U-shaped with a left side respectively, right U-shaped cylinder
Contact jaw be 90 degree docking heat seals connect；Each U-shaped cylinder is by two plane U-shaped monolithic heat bonding shapes
Become；U-shaped air bag is provided with a plurality of air bag fixing band, in order to bind with clothes；Top at rear U-shaped cylinder
Portion is provided with valve；During use, elastic cord passes the fixed cover on clothes and the air bag fixing band on U-shaped air bag,
Fixed by the VELCRO on elastic cord；Be provided with at the two ends of described U-shaped air bag with U-shaped air bag reversely,
The reverse U-shaped cylinder that two ends seal, and reverse U-shaped cylinder is provided with valve, reverse U-shaped cylinder is U-shaped with described
Air bag is the most airtight not to be connected.
Wearable U-shaped limbs power-assisted air bag the most according to claim 1, it is characterised in that described U
Type air bag uses thick Polypropylence Sheet to make.
3. the manufacture method of the wearable U-shaped limbs power-assisted air bag described in claim 1, it is characterised in that first
First, monolithic being cut into U-shaped monolithic, on U-shaped monolithic, heat seal connects air bag fixing band；Then by two
U-shaped monolithic heat bonding becomes U-shaped cylinder, front U-shaped cylinder, right U-shaped cylinder, left U-shaped cylinder and rear U-shaped cylinder
Production method is the most consistent；It is 90 by the two ends of front U-shaped cylinder cylinder U-shaped with the right side respectively, one end of left U-shaped cylinder
Degree docking heat bonding, the other end of right U-shaped cylinder cylinder U-shaped with a left side with rear U-shaped cylinder be respectively 90 degree right
Connect heat bonding, simultaneously by valve heat seal, be wearable U-shaped limbs power-assisted air bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410758621.6A CN104490562B (en) | 2014-12-10 | 2014-12-10 | Wearable U-shaped limbs power-assisted air bag and preparation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410758621.6A CN104490562B (en) | 2014-12-10 | 2014-12-10 | Wearable U-shaped limbs power-assisted air bag and preparation method thereof |
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| Publication Number | Publication Date |
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| CN104490562A CN104490562A (en) | 2015-04-08 |
| CN104490562B true CN104490562B (en) | 2016-08-24 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648012B (en) * | 2017-11-03 | 2023-12-01 | 中国科学院合肥物质科学研究院 | Flexible joint of wearable exoskeleton robot |
| CN108478386A (en) * | 2018-04-17 | 2018-09-04 | 郑州大学第附属医院 | Automatic song stretches device |
| CN109646883B (en) * | 2019-02-26 | 2023-11-10 | 江苏省人民医院 | Medical internal fistula vascular function exerciser |
| CN110251287A (en) * | 2019-06-14 | 2019-09-20 | 张佳琦 | A kind of gasbag-type knee joint bends and stretches auxiliary device |
| CN113633512B (en) * | 2021-08-09 | 2022-04-29 | 东南大学 | Soft wearable robot for elbow motion function rehabilitation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2119913U (en) * | 1991-12-25 | 1992-10-28 | 王林加 | Pneumatic muscle stretching or bending apparatus |
| CN201108568Y (en) * | 2007-02-28 | 2008-09-03 | 浙江工业大学 | Pneumatic power flexible finger movement healing apparatus |
| JP5390043B1 (en) * | 2013-08-01 | 2014-01-15 | 順 岡田 | Pneumatic articulation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999003440A1 (en) * | 1997-07-16 | 1999-01-28 | Alexander Stohr | Pneumatic motion splints and orthoses |
-
2014
- 2014-12-10 CN CN201410758621.6A patent/CN104490562B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2119913U (en) * | 1991-12-25 | 1992-10-28 | 王林加 | Pneumatic muscle stretching or bending apparatus |
| CN201108568Y (en) * | 2007-02-28 | 2008-09-03 | 浙江工业大学 | Pneumatic power flexible finger movement healing apparatus |
| JP5390043B1 (en) * | 2013-08-01 | 2014-01-15 | 順 岡田 | Pneumatic articulation device |
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