CN113633512B

CN113633512B - Soft wearable robot for elbow motion function rehabilitation

Info

Publication number: CN113633512B
Application number: CN202110906095.3A
Authority: CN
Inventors: 徐宝国; 王嘉津; 王欣; 汪逸飞; 宋爱国
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2022-04-29
Anticipated expiration: 2041-08-09
Also published as: WO2023015717A1; CN113633512A

Abstract

The invention discloses a soft wearable robot for elbow motion function rehabilitation, which comprises a soft wearable robot body assembly, a cylinder, an electromagnetic proportional valve and a controller, wherein the soft wearable robot body assembly consists of an outer-layer elbow sleeve, an inner-layer elbow sleeve, a flexible bending sensor and a soft actuator assembly; the soft body actuator assembly comprises a flexible pipe, a first end sealing element, a second end sealing element, an air guide pipe, a woven net sleeve, a first end fastening element, a second end fastening element, a first limiting layer, a second limiting layer, a joint extending layer and a third limiting layer; the three limiting layers form a limiting structure with two sides gradually changing elastic modulus, so that the motion characteristic of the soft actuator assembly is consistent with that of the human elbow, the tangential sliding between the soft actuator assembly and the skin at the elbow joint of the human body is reduced, and the auxiliary force is distributed more uniformly; the joint extension layer of the soft actuator assembly has certain axial extensibility, so that the discomfort of a user is reduced.

Description

Soft wearable robot for elbow motion function rehabilitation

Technical Field

The invention belongs to the field of medical rehabilitation instruments, and particularly relates to a soft wearable robot for elbow motion function rehabilitation.

Background

Medical theory and practice prove that for hemiplegic patients caused by cerebral apoplexy, the motor function of limbs can be recovered to a certain extent through a large amount of repeated motor function guide training. The rehabilitation robot is used for assisting the patient to perform rehabilitation training, so that a large amount of manpower and material resources can be saved, the rehabilitation state of the patient can be quantitatively evaluated in real time, and the whole rehabilitation industry is positively influenced.

In the robot assisted training therapy, a rehabilitation robot directly interacts with limbs of a patient, and ensuring the safety and the flexibility of interaction is a first element for developing the rehabilitation robot. The traditional rehabilitation robot usually adopts a rigid structure, but the high rigidity characteristic of the traditional rehabilitation robot can cause secondary damage to a patient, and the soft rehabilitation robot taking the flexible structure as the main body has the inherent flexibility characteristic, so that the safety interaction performance of the rehabilitation robot can be effectively improved.

The soft body rehabilitation robot is generally composed of a soft body actuator and a wearable fabric, and is formed into a soft body wearable structure. In the existing soft wearable robot for elbow motion function rehabilitation, the soft actuator usually realizes semicircular bending motion by completely restricting the extension of one side, the difference between the motion characteristic of the soft actuator and the motion characteristic of the elbow of a human body is larger, and the forced attachment can cause tangential sliding between the soft actuator and the skin of a patient and uneven auxiliary force distribution. In addition, the skin at the elbow joint of the human body can have a certain degree of axial extension when being bent, but the constraint side of the existing soft body actuator has no axial extension, and the constraint side is in direct contact with the skin of the patient, so that tangential force can be generated between the soft body actuator and the skin of the patient, and the discomfort of the user can be increased although the soft body actuator is of a flexible structure.

Disclosure of Invention

In order to solve the problems, the invention discloses a soft wearable robot for elbow motion function rehabilitation, which is used for assisting a patient to smoothly complete elbow rehabilitation training, the motion characteristic of the robot is basically consistent with that of the elbow of the human body, and the interaction part of the robot and the skin of the patient has certain axial extensibility, so that the discomfort of the user can be removed, and the secondary injury can be prevented.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a soft wearable robot for elbow motion function rehabilitation comprises a cylinder, an electromagnetic proportional valve, a soft wearable robot body assembly and a controller. The cylinder is used as a power source to provide driving force for the soft wearable robot body assembly; the electromagnetic proportional valve is respectively connected with the air cylinder and the soft wearable robot body assembly in an airtight mode through air guide tubes and is used for adjusting the internal air pressure of the soft wearable robot body assembly; the soft wearable robot body assembly consists of an outer elbow sleeve, an inner elbow sleeve, a flexible bending sensor and a soft actuator assembly;

the outer elbow sleeve is of a fabric non-closed cylinder structure without extensibility, and the lower side of the outer elbow sleeve is fixed with the upper side of the soft actuator assembly in an adhesive manner; the inner-layer elbow sleeve is of a fabric closed cylinder structure, has extensibility, is directly sleeved on the elbow of a human body, and is fixed on the inner surface of the outer-layer elbow sleeve through a magic tape to form a sleeve structure; the flexible bending sensor has no ductility, and the lower side of the flexible bending sensor is fixed with the upper side of the outer elbow casing by means of gluing;

the soft body actuator assembly comprises a flexible pipe, a first end sealing element, a second end sealing element, an air guide pipe, a woven net sleeve, a first end fastening element, a second end fastening element, a first end limiting screw, a first end nut, a second end limiting screw, a second end nut, a first limiting layer, a second limiting layer, a joint extending layer and a third limiting layer; the flexible tube includes a first end and a second end, the first and second ends being hermetically connected to the first end seal and the second end seal, respectively; the first end sealing element is provided with a through hole communicated with the interior of the flexible pipe; the air guide pipe is hermetically connected with the through hole of the first end sealing element; the braided net sleeve is coated on the outer surface of the flexible pipe and comprises a first end and a second end, the first end of the braided net sleeve is fixed with the first end of the flexible pipe through the first end fastener, and the second end of the braided net sleeve is fixed with the second end of the flexible pipe through the second end fastener; the first end fastener is used for adjusting the fastening degree with the first end nut through the first end limiting screw; the second end fastening piece is fastened with the second end nut through the second end limiting screw in an adjusting mode; the first limiting layer, the joint extension layer and the second limiting layer are sequentially arranged on the upper side of the woven net sleeve from the first end to the second end in a gluing mode; the first constraint layer is non-malleable and includes a first end and a second end, the first end of which is proximate to the first end fastener; the joint extension layer has a certain axial extensibility and comprises a first end and a second end, and the first end of the joint extension layer is tightly attached to the second end of the first limiting layer; said second constraint layer being non-malleable and comprising a first end and a second end, said first end abutting said second end of said joint extension layer and said second end abutting said second end fastener; the third limiting layer is made of a material with a gradually-changed elastic modulus and comprises a first end and a second end, the elastic modulus is gradually increased from the first end to the second end, the upper side of the third limiting layer is fixed with the lower side of the woven net sleeve in a gluing mode, and the second end of the third limiting layer is tightly attached to the second end fastener;

the controller is used for solving a control instruction based on reference angle information and real-time angle information fed back by the flexible bending sensor, outputting control voltage to the electromagnetic proportional valve, and controlling the internal air pressure of the soft body actuator assembly to realize the tracking of the soft body wearable robot body assembly on a preset training track.

The invention has the beneficial effects that:

1. in the invention, the first limiting layer, the second limiting layer and the third limiting layer form a limiting structure with bilateral gradually-changed elastic modulus, the design ensures that the motion characteristic of the soft actuator component basically conforms to the motion characteristic of the elbow of a human body, the tangential sliding between the soft actuator component and the skin of the elbow joint of the human body is effectively reduced, and the auxiliary force distribution is more uniform;

2. in the invention, the joint extension layer of the soft actuator component has certain axial extensibility and can be used for adapting to the axial extension of the skin at the elbow joint of a human body when the skin is bent, so that the tangential force between the soft actuator component and the skin at the elbow joint of the human body is reduced, and the discomfort of a user is reduced.

3. In the invention, the outer-layer elbow sleeve and the inner-layer elbow sleeve form a double-layer elbow sleeve design, so that the soft body actuator assembly can be tightly attached to the elbow of a human body, the power transmission efficiency is ensured, and the overall wearability of the equipment can be improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic right side view of the soft body wearable robot assembly of the present invention in an extended position;

FIG. 3 is a schematic right side view of the soft wearable robot body assembly of the present invention in 90 degree bend;

FIG. 4a is a right side schematic view of the software actuator assembly of the present invention in an extended position;

FIG. 4b is a schematic top view of the software actuator assembly of the present invention in an extended position;

FIG. 4c is a schematic cross-sectional view taken along line A-A in FIG. 4 b;

FIG. 5a is a schematic right side view of the first end seal of the present invention;

FIG. 5B is a schematic cross-sectional view taken along line B-B in FIG. 5 a;

FIG. 6 is a schematic right side view of the second end seal of the present invention;

FIG. 7 is a schematic right side view of a first end fastener, first end stop screw, first end nut of the present invention;

FIG. 8a is a schematic right side view of the soft effector assembly of the present invention in a 90 bend;

fig. 8b is a schematic cross-sectional view of fig. 8a taken along a right-hand reference plane.

List of reference symbols: 1. the soft body component of the wearable robot; 2. a cylinder; 3. an electromagnetic proportional valve; 4. a controller; 5. a software actuator assembly; 6. an outer elbow sleeve; 7. an inner elbow sleeve; 8. a flexible bending sensor; 9. a flexible tube; 10. a first end seal; 11. a second end seal; 12. an air duct; 13. weaving a net sleeve; 14. a first end fastener; 15. a second end fastener; 16. a first end limit screw; 17. a first end nut; 18. a second end stop screw; 19. a second end nut; 20. a first confinement layer; 21. a second confinement layer; 22. a joint extension layer; 23. A third confinement layer.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.

The embodiment describes a soft wearable robot for elbow motion function rehabilitation, the overall structure schematic diagram of which is shown in fig. 1, and the soft wearable robot comprises a soft wearable robot body assembly 1, a cylinder 2, an electromagnetic proportional valve 3 and a controller 4. The soft wearable robot body component 1 is tightly sleeved on the elbow of a human body; the cylinder 2 is used as a power source to provide driving force for the soft wearable robot body component 1; the electromagnetic proportional valve 3 is hermetically connected with the soft wearable robot body assembly 1 and the air cylinder 2 through an air duct and is used for adjusting the internal air pressure of the soft wearable robot body assembly 1; the controller 4 is based on reference angle information and the real-time angle information that the wearable robot body subassembly of software 1 feedback solves control command to output control voltage extremely electromagnetism proportional valve 3 realizes through control atmospheric pressure the wearable robot body subassembly of software 1 is to the tracking of predetermineeing the training orbit, and the supplementary user accomplishes elbow rehabilitation training.

Referring to fig. 2, fig. 2 is a schematic right side view of the soft wearable robot body assembly 1 when extended. The body component 1 of the soft wearable robot consists of a soft actuator component 5, an outer elbow sleeve 6, an inner elbow sleeve 7 and a flexible bending sensor 8. The soft actuator assembly 5 can achieve different degrees of bending motion by adjusting the internal air pressure, the specific details of which can be referred to in the following detailed description with reference to fig. 4a-4c, the upper side of the soft actuator assembly 5 is tightly connected and fixed with the outer elbow sleeve 6 by gluing, and the outer elbow sleeve 6 has no ductility, so as to ensure that the soft actuator assembly 5 is tightly attached to the outer elbow sleeve 6; the inner surface of the outer elbow sleeve 6 and the outer surface of the inner elbow sleeve 7 are connected through a magic tape to form a sleeve structure, wherein the inner surface of the outer elbow sleeve 6 is a barbed surface, and the outer surface of the inner elbow sleeve 7 is a rough surface, so that the outer elbow sleeve 6 and the inner elbow sleeve 7 are tightly attached; the outer elbow sleeve 6 is of a fabric non-closed cylindrical structure, a long and thin rectangular open area is reserved along the radial direction, and the inner elbow sleeve 7 is conveniently coated in a circumferential mode; the inner elbow sleeve 7 is of a fabric closed cylinder structure and has certain ductility, and can be directly and conveniently sleeved on the elbow of a human body; the middle parts of the outer elbow sleeve 6 and the inner elbow sleeve 7 close to the left sides are provided with opening regions with triangular sections, the opening regions correspond to the skin of the elbow joint of a human body and have the function of preventing the skin of the elbow joint of the human body from axially extending in bending motion, and the double-layer sleeve elbow sleeve structure formed by the outer elbow sleeve 6 and the inner elbow sleeve 7 can ensure that the soft actuator 5 is attached to the elbow of the human body, ensure the power transmission efficiency and improve the wearability of the soft wearable robot body assembly 1; the flexible bending sensor 8 does not have extensibility, and because the upper side of the outer elbow sleeve 6 of the flexible wearable robot body assembly 1 does not have obvious extension characteristics when bending motion occurs, the lower side of the flexible bending sensor 8 and the upper side of the outer elbow sleeve 6 are fixedly connected in an adhesive mode, and normal work of an angle measurement function and a signal transmission function can be guaranteed. When the soft actuator component 5 adjusts the air pressure to realize bending motions of different degrees, the soft actuator component and the outer elbow sleeve 6 and the inner elbow sleeve 7 together drive the human elbow to realize cooperative bending, the flexible bending sensor 8 detects the bending angle of the human elbow in real time and feeds the angle information back to the controller 4, and the internal air pressure of the soft actuator component 5 is further adjusted through the electromagnetic proportional valve 3 to realize tracking of a preset training track. Fig. 3 shows a schematic diagram of the soft wearable robot body assembly 1 when it is bent by 90 degrees.

Referring to fig. 4a-4c, fig. 4a is a schematic right side view of the soft effector component 5 when extended, fig. 4b is a schematic top view of the soft effector component 5 when extended, and fig. 4c is a schematic cross-sectional view taken along line a-a in fig. 4 b. The soft body actuator assembly 5 comprises a flexible tube 9, a first end seal 10, a second end seal 11, an airway tube 12, a woven mesh 13, a first end fastener 14, a second end fastener 15, a first end limit screw 16, a second end limit screw 17, a first end nut 18, a second end nut 19, a first limit layer 20, a second limit layer 21, a joint extension layer 22 and a third limit layer 23. The flexible tube 9 is an elongated tubular structure that can extend in the axial direction, and is generally made of an elastic material (rubber product such as silicone rubber, latex, etc.) having airtightness, and includes a first end and a second end; a first end seal 10 is hermetically connected to the first end of the flexible tube 9, the first end seal 10 being schematically illustrated in figures 5a, 5B, figure 5a being a schematic right side view of the first end seal 10, figure 5B being a schematic cross-sectional view taken along line B-B in figure 5a, wherein the first end seal 10 is of a generally cylindrical configuration with a right extension having an end radius slightly larger than the inner diameter of the flexible tube 9 and an outer surface provided with two annular bosses to enhance gas tightness when connected to the first end of the flexible tube 9, the left extension of the first end seal 10 projecting a short cylindrical configuration with a wedge-shaped boss on its left outer surface to enhance gas tightness when connected to the gas tube 12, the first end seal 10 being provided with a through-hole from left to right and extending through the short cylindrical configuration from the axis, the through hole is communicated with the interior of the flexible tube 9; a second end seal 11 is hermetically connected to the second end of the flexible tube 9, fig. 6 is a schematic right side view of the second end seal 11, the second end seal 11 is of a generally cylindrical configuration, the end radius of the left extended portion of which is slightly greater than the inner diameter of the flexible tube 9, similar to the right extended portion of the first end seal 10, and the outer surface of the left extended portion of the second end seal 11 is provided with two annular bosses to enhance the gas tightness when connected to the second end of the flexible tube 9, except that the second end seal 11 need not be connected to a gas-conducting tube and is of a solid construction overall; the braided net sleeve 13 is an elongated tubular net sleeve with axial ductility, covers the outer surface of the flexible pipe 9 and comprises a first end and a second end, the first end of the braided net sleeve 13 is fixed with the first end of the flexible pipe 9 through a first end fastener 14, and the second end of the braided net sleeve 13 is fixed with the second end of the flexible pipe 9 through a second end fastener 15, so that the braided net sleeve 13 can completely cover the flexible pipe 9 and cannot fall off in the bending process; the first end fastener 14 and the second end fastener 15 adopt the same structure, the first end limiting screw 16 and the first end nut 18 are used for adjusting the fastening degree of the first end fastener 14, the second end limiting screw 17 and the second end nut 19 are used for adjusting the fastening degree of the second end fastener 15, and the schematic right view is shown in fig. 7; when the soft actuator assembly 5 is not pressurized, the flexible tube 9 is in a horizontal extension state, the braided mesh sleeve 13 is in an axial limit compression state, when the soft actuator assembly 5 is pressurized, the flexible tube 9 can be elastically extended along the axial direction, and the braided mesh sleeve 13 can be attached to the outer surface of the flexible tube 9 to be axially extended and can block the radial expansion of the flexible tube 9; the upper side of the knitted net sleeve 13 is sequentially provided with a first limiting layer 20, a joint extending layer 22 and a second limiting layer 21 from a first end to a second end in an adhesive manner; the first constraint layer 20 is non-malleable and includes a first end and a second end, the first end of which is proximate the first end fastener 14; the joint extension layer 22 has a certain axial extensibility and comprises a first end and a second end, the first end of the joint extension layer is tightly attached to the second end of the first limiting layer 20, the joint extension layer 22 is located at a position corresponding to the skin of the elbow joint of the human body, and the axial extensibility of the joint extension layer is used for adapting to the axial extensibility of the skin of the elbow joint of the human body; the second constraint layer 21 is non-malleable and includes a first end abutting the second end of the joint extension layer 20 and a second end abutting the second end fastener 15; the third limiting layer 23 is made of a material with a gradually-changed elastic modulus, comprises a first end and a second end, the elastic modulus of the third limiting layer is gradually increased from the first end to the second end, the third limiting layer 23 is fixed on the lower side of the knitted net sleeve 13 in an adhesive manner, and the second end of the third limiting layer is tightly attached to the second end fastener 15; the first limiting layer 20, the second limiting layer 21 and the third limiting layer 23 together form a double-side gradient elastic modulus limiting structure, and the working principle is as follows: when the soft actuator component 5 is not pressurized, the flexible tube 9, the knitted mesh 13, the joint extension layer 22 and the third limiting layer 23 all keep the initial state and do not elastically extend, and the soft actuator component 5 is in a horizontal extension state, as shown in fig. 4a-4 c; when the soft actuator assembly 5 is pressurized, the flexible tube 9 is axially stretched under the radial constraint of the braided mesh 13, the first restriction layer 20 and the second restriction layer 21 will have a large resistance to the axial extension of the upper end portions of the flexible tube 9, whereas the axial extension of the underside of the flexible tube 9 near the first end portion is not hindered, so that the flexible tube 9 will be bent at a larger angle near the first end portion, and the lower side of the flexible tube 9, near the second end portion, is constrained by the third restriction layer 23, and the constraining action gradually decreases from the first end to the second end of the third restriction layer 23, the bending angle of the flexible tube 9 near the second end portion is thus small and gradually decreases, as shown in figures 8a and 8b, FIG. 8a is a schematic right side view of the soft effector assembly 5 bent 90, and FIG. 8b is a schematic cross-sectional view of FIG. 8a taken along the right reference plane. At the moment, the bending motion characteristic of the soft actuator assembly 5 is basically consistent with the motion characteristic of the elbow of the human body, unlike the prior designed soft actuator which is bent in a semicircular shape, the tangential sliding between the soft actuator assembly 5 and the skin at the elbow joint of the human body is effectively reduced, and the distribution of the auxiliary force is more uniform; if the third limiting layer 23 is designed to be a completely constrained structure without extensibility, the second end portion of the flexible tube 9 will not generate bending motion, which makes the bending motion characteristic of the soft actuator assembly 5 more fit the motion characteristic of the elbow of the human body, but the user will lose the auxiliary action at the forearm, which may result in insufficient driving force, so the third limiting layer 23 in the present invention adopts a material with gradually changed elastic modulus, and although the incompletely constrained structure may make the bending motion characteristic of the soft actuator assembly 5 slightly deviate from the motion characteristic of the elbow of the human body, the second end portion of the flexible tube 9 still generates bending moment, which can provide the auxiliary action for the forearm of the user, thereby ensuring that the user successfully completes the elbow rehabilitation training. In addition, the joint extension layer 22 has a certain axial extensibility, and can adapt to the axial extension of the elbow joint skin of the human body on the premise of almost not losing driving force, so that the tangential force between the soft actuator assembly 5 and the elbow joint skin of the human body is reduced, and the discomfort of a user is reduced.

While the invention has been shown and described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined in the following claims.

Claims

1. The utility model provides a wearable robot of software for elbow motion function is recovered which characterized in that: the robot comprises a soft wearable robot body assembly, a cylinder, an electromagnetic proportional valve and a controller; the cylinder is used as a power source to provide driving force for the soft wearable robot body assembly; the electromagnetic proportional valve is respectively connected with the air cylinder and the soft wearable robot body assembly in an airtight mode through air guide tubes and used for adjusting the internal air pressure of the soft wearable robot body assembly, the controller solves a control command based on reference angle information and real-time angle information fed back by the soft wearable robot body assembly and outputs control voltage to the electromagnetic proportional valve, tracking of the soft wearable robot body assembly on a preset training track is achieved by controlling the air pressure, and a user is assisted in completing elbow rehabilitation training;

the soft wearable robot body assembly consists of an outer elbow sleeve, an inner elbow sleeve, a flexible bending sensor and a soft actuator assembly; the outer elbow sleeve is a non-closed cylinder structure made of non-extensible fabric, and the lower side of the outer elbow sleeve is fixed with the upper side of the soft actuator assembly; the inner-layer elbow sleeve is of a closed cylinder structure made of fabric with ductility and directly sleeved on the elbow of a human body, and a sleeve structure is arranged inside the outer-layer elbow sleeve; the flexible bend sensor has a non-malleable underside secured to the outer elbow cuff upper side;

the soft body actuator assembly comprises a flexible pipe, a first end sealing element, a second end sealing element, an air guide pipe, a woven net sleeve, a first end fastening element, a second end fastening element, a first limiting layer, a second limiting layer, a joint extending layer and a third limiting layer; the flexible tube includes a first end and a second end, the first and second ends being hermetically connected to the first end seal and the second end seal, respectively; the first end sealing element is provided with a through hole communicated with the interior of the flexible pipe; the air guide pipe is hermetically connected with the through hole of the first end sealing element; the braided net sleeve is coated on the outer surface of the flexible pipe and comprises a first end and a second end, the first end of the braided net sleeve is fixed with the first end of the flexible pipe through the first end fastener, and the second end of the braided net sleeve is fixed with the second end of the flexible pipe through the second end fastener; the first limiting layer, the joint extension layer and the second limiting layer are sequentially arranged on the upper side of the knitted net sleeve from the first end to the second end in a gluing mode; the first constraint layer is non-malleable and includes a first end and a second end, the first end of which is proximate to the first end fastener; the joint extending layer is axially extensible and comprises a first end and a second end, and the first end of the joint extending layer is tightly attached to the second end of the first limiting layer; said second constraint layer being non-malleable and comprising a first end and a second end, said first end abutting said second end of said joint extension layer and said second end abutting said second end fastener; the third limiting layer is made of a material with a gradually-changed elastic modulus and comprises a first end and a second end, the elastic modulus is gradually increased from the first end to the second end, the upper side of the third limiting layer is fixed with the lower side of the woven net sleeve in a gluing mode, and the second end of the third limiting layer is tightly attached to the second end fastener.

2. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the controller is used for solving a control instruction based on reference angle information and real-time angle information fed back by the flexible bending sensor, outputting control voltage to the electromagnetic proportional valve, and controlling the internal air pressure of the soft body actuator assembly to realize the tracking of the soft body wearable robot body assembly on a preset training track.

3. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the lower side of the outer elbow sleeve is fixed with the upper side of the soft actuator assembly in an adhesive mode.

4. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the outer surface of the inner elbow sleeve is fixed to the inner surface of the outer elbow sleeve through a magic tape, and a sleeve structure is formed.

5. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the lower side of the flexible bending sensor is fixed with the upper side of the outer elbow casing in an adhesive mode.

6. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the first end fastener is connected with the first end nut through the first end limiting screw.

7. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the second end fastener is connected with the second end nut through a second end limit screw.

8. The soft wearable robot for elbow motion function rehabilitation according to claim 1, wherein: the using method comprises the following steps:

when the soft actuator component is not pressurized, the flexible pipe, the knitted net sleeve, the joint extension layer and the third limiting layer are all kept in an initial state and do not generate elastic extension, and the soft actuator component is in a horizontal extension state;

when the soft actuator component is pressurized, the flexible pipe axially extends under the radial restraint of the woven mesh sleeve, but the first limiting layer and the second limiting layer generate larger blocking effect on the axial extension of two end parts of the upper side of the flexible pipe, and the axial extension of the lower side of the flexible pipe close to the first end part is not blocked, so that the flexible pipe can generate a larger bending angle close to the first end part, the lower side of the flexible pipe close to the second end part is restrained by the third limiting layer, and the restraining effect is gradually reduced from the first end to the second end of the third limiting layer, so that the bending angle generated by the flexible pipe close to the second end part is smaller and gradually reduced, at the moment, the bending motion characteristic of the soft actuator component basically accords with the motion characteristic of the elbow of a human body, and the user is guaranteed to successfully finish the elbow rehabilitation training.