CN211750891U - Wearable pneumatic flexible bionic massage device - Google Patents

Abstract

The utility model provides a bionical massage device of wearable pneumatic flexibility, including at least a set of massage unit, control box and flexible trachea, be provided with positive negative pressure air supply and micro-switch valve in this control box, this massage unit and this micro-switch valve are connected to this flexible trachea leakproofness respectively, and this positive negative pressure air supply and this flexible trachea are connected to this micro-switch valve leakproofness respectively. The flexible bionic finger is made of flexible materials, and the opening and closing state of the flexible bionic finger is driven by gas, so that the massage strength can be accurately controlled. Under the condition that the system fails or is overloaded, the human body cannot be injured, and the safety of a user is effectively protected.

Description

Wearable pneumatic flexible bionic massage device

Technical Field

The utility model belongs to the technical field of massage equipment, a wearable pneumatic flexible bionic massage device is related to.

Background

At present, one of the main means of health care, disease prevention and treatment is massage treatment, and massage equipment is an indispensable part in treatment. However, the existing massage robots are bulky, cannot be used for household, and have potential safety hazards.

For example, a massage robot pushed out from singapore has a touch screen and a mechanical arm, can move in 6 degrees of freedom up, down, left, right, front and back, and the like, and is mainly used for massaging the back of a patient by finger pressure and physical therapy. The massage robot is guided by a 3D camera system, is driven by a motor, and massages by simulating the palm and the thumb of a person through one mechanical arm, and is too complicated in structure, complex in use and not suitable for portable scenes and daily use in families. In addition, when the operation is wrong, the mechanical arm still continues to execute wrong instructions, and the human body is damaged. In addition, because the shoulder structure of the human body is complex and the number of bones is large, the robot cannot massage the shoulders.

For another example, a five-finger massage robot controlled by artificial intelligence has been developed in japan, in which touch sensors are embedded in five fingers mounted on the tail ends of slide bars of a rail. The position of massage is confirmed through the camera to this robot, is aided with heart rate, expression and sound etc. that read, by AI adjustment dynamics. The five fingers are combined together through hinge structures respectively, and the appearance of the finger is similar to that of a human finger. The robot can be fixed at one position only, and a patient lies on a bed for massage. Moreover, the robot also has a safety problem, and once a motor system in the finger is in a problem, serious consequences can be caused.

SUMMERY OF THE UTILITY MODEL

In view of this, a wearable pneumatic flexible bionic massage device which is safe, reliable and can be used for household is provided, which is a technical problem to be solved urgently at present.

In view of the above problem, the utility model provides a bionical massage device of wearable pneumatic flexibility, including at least a set of massage unit, control box and flexible trachea, be provided with positive negative pressure air supply and micro-switch valve in this control box, this massage unit and this micro-switch valve are connected to this flexible trachea leakproofness respectively, and this positive negative pressure air supply and this flexible trachea are connected to this micro-switch valve leakproofness respectively.

According to the utility model discloses an embodiment, every group massage unit includes one and dresses bandage and at least one pneumatic flexible bionical finger module, and this pneumatic flexible bionical finger module is fixed on this dresses bandage.

Further, according to an embodiment of the present invention, the pneumatic flexible bionic finger module includes a housing, a first finger unit and a second finger unit, the first finger unit and the second finger unit are respectively fixed on the housing, and the housing is fixed on the wearing strap; the first finger unit and the second finger unit are made of flexible materials.

According to the utility model discloses an embodiment, this first finger unit and this second finger unit include flexible sealed tube and set up a plurality of gasbags on this flexible sealed tube respectively, are provided with the air flue that supplies the gas intercommunication between every gasbag and this flexible sealed tube.

Furthermore, an air inlet hole is formed in the housing, and the flexible air pipe is connected with the flexible sealing pipes of the first finger unit and the second finger unit through the air inlet hole.

According to the utility model discloses an embodiment, this positive negative pressure air supply includes positive pressure pump and negative pressure pump, perhaps this positive negative pressure air supply includes positive pressure pump and vacuum generating device.

According to the utility model discloses an embodiment, this flexible tracheal quantity is the same with this micro-switch valve's quantity, and this flexible tracheal quantity is one time to the twice of the quantity of pneumatic flexible bionic finger module, quantity is the integer.

Further, according to an embodiment of the present invention, each micro switch valve is connected to a flexible air tube, and each or every two flexible air tubes are connected to a pneumatic flexible bionic finger module.

According to the utility model discloses an embodiment, this massage unit's quantity is two sets of or more than two sets of, and this wearable pneumatic flexible bionic massage device still includes waist fixing device and back fixing device, and this massage unit is fixed at this waist fixing device and this back fixing device, and this control box is fixed at this waist fixing device, this back fixing device or should dress the bandage.

According to the utility model discloses an embodiment, this micro-switch valve's quantity is four, and this flexible tracheal quantity is four, and the quantity of this massage unit is two, and the quantity of the bionical finger module of pneumatic flexibility is the integral multiple of massage unit.

According to the utility model discloses an embodiment, between this positive negative pressure air supply and this micro-switch valve, still be provided with miniature air-vent valve for the dynamics of adjustment malleation.

The utility model discloses in, this positive negative pressure air supply output compressed air produces the malleation, and compressed air passes through this pneumatic flexible bionical finger module closure of flexible trachea drive. The positive and negative pressure air source exhausts air to generate negative pressure, and the plurality of continuous air bags compress to drive the pneumatic flexible bionic finger module to be opened outwards. The massage is completed by the reciprocating opening and closing. Different frequencies and air pressure reciprocating actions are adjusted to realize adjustable bionic massage.

Because the first finger unit and the second finger unit are made of flexible materials, and the opening and closing states of the first finger unit and the second finger unit are driven by air, the massage strength can be accurately controlled. Under the condition that the system fails or is overloaded, the human body cannot be injured, and the safety of a user is effectively protected. In addition, different hand massage effects can be simulated by adjusting the pressure and the working frequency of the driving gas. Finally, the wearable pneumatic flexible bionic massage device of the utility model can be used for massaging any part of the human body.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of a wearable pneumatic flexible bionic massage device according to a first embodiment of the present invention.

Fig. 2 is a schematic structural view of the massage unit in fig. 1.

Fig. 3 is a schematic perspective view of the pneumatic flexible bionic finger module in fig. 1.

Fig. 4 is a schematic cross-sectional view of fig. 3.

Fig. 5 is a schematic view of the internal structure of the control box of fig. 1.

Fig. 6 is a state schematic diagram of the pneumatic flexible bionic finger module under negative pressure.

Fig. 7 is a state diagram of the pneumatic flexible bionic finger module under positive pressure.

Fig. 8 is a schematic structural view of a wearable pneumatic flexible bionic massage device according to a second embodiment of the present invention.

Fig. 9 is an internal structure diagram of the control box of fig. 8.

Figure 10 is a schematic view of a wearable pneumatic flexible biomimetic massage device massaging a human arm.

Figure 11 is a schematic view of a wearable pneumatic flexible biomimetic massage device massaging a human leg.

Fig. 12 is a schematic structural view of a wearable pneumatic flexible bionic massage device according to a third embodiment of the present invention.

Figure 13 is a schematic view of a wearable pneumatic flexible biomimetic massage device massaging shoulders of a human body.

Fig. 14 is a rear view of fig. 12.

Fig. 15 is an internal structural schematic diagram of the control box in fig. 14.

Fig. 16 is a schematic view of the internal structure of a control box according to a fourth embodiment of the present invention.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the present invention will be described in detail with reference to the following embodiments. It is to be understood that the following examples are illustrative of the present invention only and are not limiting thereof.

Fig. 1 is a schematic structural diagram of a wearable pneumatic flexible bionic massage device 100 according to a first embodiment of the present invention. Fig. 2 is a schematic structural view of the massage unit 180 in fig. 1. Fig. 3 is a schematic perspective view of the pneumatic flexible bionic finger module 120 in fig. 1. Fig. 4 is a schematic cross-sectional view of fig. 3. As shown in the figure, the wearable pneumatic flexible bionic massage device 100 includes at least one set of massage unit 180, a control box 130 and a flexible air tube 140, wherein two ends of the flexible air tube 140 are respectively connected with the control box 130 and the massage unit 180 in a sealing manner.

As shown in fig. 2, each group of massage units 180 is composed of a wearing band 110 and a pneumatic flexible bionic finger module 120, and the pneumatic flexible bionic finger module 120 is fixed on the wearing band 110 for massaging a human body part. The control box 130 is also fixed on the wearing band 110, and the flexible air tube 140 connects the control box 130 and the pneumatic flexible bionic finger module 120, respectively. It should be noted that, for the sake of convenience, fig. 1 shows the flexible air tube 140 outside the wearing band 110, and in practice, the flexible air tube 140 is inserted into the wearing band 110 and runs from the inside. The number of the flexible air tubes 140 is between 1 and 2 times of the number of the pneumatic flexible bionic finger modules 120, and the number of the flexible air tubes is an integer. In this embodiment, the number of the flexible air tubes 140 is one.

Specifically, as shown in fig. 3, the pneumatic flexible bionic finger module 120 includes a casing 122, and a first finger unit 124 and a second finger unit 126 respectively fixed on the casing 122, and the casing 122 is fixed on the wearing band 110. The housing 122 is respectively provided with a first air inlet hole 1222 and a second air inlet hole 1224, the first air inlet hole 1222 is respectively connected with the first finger unit 124 and the flexible air tube 140 in a sealing manner, and the second air inlet hole 1224 is respectively connected with the second finger unit 126 and the flexible air tube 140 in a sealing manner. In this embodiment, the first air inlet hole 1222 and the second air inlet hole 1224 are respectively connected to the flexible air tube 140.

Further, as shown in fig. 2 to 4, the first finger unit 124 includes a flexible sealing tube 121 and a plurality of air bags 125 disposed on the flexible sealing tube 121, and an air passage 123 for communicating air is disposed between each air bag 125 and the flexible sealing tube 121, so that a through air chamber is formed between each air bag 125 and the flexible sealing tube 121 through the air passage 123, and air can enter each air bag 125 from the flexible sealing tube 121 or can be extracted from each air bag 125. Accordingly, the second finger unit 126 and the first finger unit 124 have the same internal structure, and are not described herein again.

Fig. 5 is a schematic diagram illustrating an internal structure of the control box 130 in fig. 1. As shown in the figure, in this embodiment, the control box 130 includes a micro switch valve 132 and a positive/negative pressure air source 134, the micro switch valve 132 is respectively connected to the flexible air tube 140 and the positive/negative pressure air source 134, and the positive/negative pressure air source 134 is used for providing positive pressure or negative pressure to the inside of the pneumatic flexible bionic finger module 120 through the flexible air tube 140. In one embodiment, the positive and negative pressure air source 134 includes a positive pressure pump and a negative pressure pump; in another embodiment, the positive and negative pressure air source 134 comprises a positive pressure pump and a vacuum generating device.

In this embodiment, the number of the flexible air tube 140 and the number of the micro switch valves 132 are the same, each of the micro switch valves 132 is connected to the flexible air tube 140, the flexible air tube 140 is connected to the first finger unit 124 and the second finger unit 126 at the same time, and the micro switch valve 132 is used for controlling the opening and closing states of the first finger unit 124 and the second finger unit 126, which are caused by the entering or the extracting of the compressed air. Preferably, a micro pressure regulating valve 136 is further provided between the positive and negative pressure source 134 and the micro switch valve 132 for regulating the strength of the positive pressure outputted from the positive and negative pressure source 134, whereby the strength of the massage can be precisely controlled.

Fig. 6 is a schematic diagram illustrating the state of the pneumatic flexible bionic finger module 120 under negative pressure. Fig. 7 is a schematic diagram showing the state of the pneumatic flexible bionic finger module 120 under positive pressure. When in use, the wearing bandage 110 is fixed on the required part of the human body, the pneumatic flexible bionic finger module 120 faces the part of the human body needing massage, and the wearing bandage 110 is tightened. The positive and negative pressure air source 134 outputs compressed air to generate positive pressure, the pressure is adjusted by the micro pressure adjusting valve 136 and then passes through the micro switch valve 132, the micro switch valve 132 is opened, the compressed air enters the first air inlet hole 1222 and the second air inlet hole 1224 through the flexible air tube 140, finally enters the first finger unit 124 and the second finger unit 126, the plurality of continuous air bags 125 are driven to expand, and the first finger unit 124 and the second finger unit 126 are stretched inwards to be in an inwards bent state, as shown in fig. 7. When the micro switch valve 132 is opened, the plurality of continuous air bags 125 are compressed, the compressed air inside the air bags is sucked away by the negative pressure pump or the vacuum generating device of the positive and negative pressure air source 134 through the flexible air pipe 140, and the air bags 125 are contracted, so that the first finger unit 124 and the second finger unit 126 are pulled outwards to be driven to be in an outwards bent state, as shown in fig. 6.

Fig. 8 is a schematic structural diagram of a wearable pneumatic flexible bionic massage device 200 according to a second embodiment of the present invention. Fig. 9 is a schematic view of the internal structure of the control box in fig. 8. The difference from the first embodiment is that, in addition to the massage unit 180, the wearable pneumatic flexible bionic massage device 200 of the present embodiment includes two flexible air tubes 140, namely a first flexible air tube 142 and a second flexible air tube 144; two micro-switch valves 132 are also included, a first micro-switch valve 1322 and a second micro-switch valve 1324. Each of the micro switch valves 132 is connected to one of the flexible air tubes 140, wherein a first flexible air tube 142 is connected to the first finger unit 124 and the first micro switch valve 1322, and a second flexible air tube 144 is connected to the second finger unit 126 and the second micro switch valve 1324. In this embodiment, two flexible air tubes 140 and two micro-switch valves 132 together control a set of massage units 180, and one flexible air tube 140 and one micro-switch valve 132 together control one finger unit. In this embodiment, the massage force of each finger unit can be controlled respectively, so that more bionic massage manipulations can be realized.

Both the wearable pneumatic flexible bionic massage devices 100 and 200 of the first and second embodiments can be used for massaging arms of a human body, and fig. 10 is a schematic diagram of the wearable pneumatic flexible bionic massage device massaging arms of a human body. In addition, the wearable pneumatic flexible bionic massage devices 100 and 200 of the first and second embodiments of the present invention can also massage the legs of the human body, as shown in fig. 11, which is a schematic diagram of the wearable pneumatic flexible bionic massage device massaging the legs of the human body. The person skilled in the art will understand that the wearable pneumatic flexible bionic massage device 100, 200 of the first and second embodiments can also be used for massaging the waist, back and other parts of the human body.

In the first and second embodiments of the present application, the fixing manner of the wearing band 110 is a common manner such as a hook and loop fastener, a button, an elastic cord, etc.

Fig. 12 is a schematic structural diagram of a wearable pneumatic flexible bionic massage device 300 according to a third embodiment of the present invention. Fig. 13 is a schematic view of the wearable pneumatic flexible bionic massage device 300 massaging the shoulders of a human body. Fig. 14 is a rear view of fig. 12. Fig. 15 is an internal structural view of the control box 330 in fig. 14. In this embodiment, the wearable pneumatic flexible bionic massage device 300 further includes a waist fixing device 310, a back fixing device 320, a control box 330, two flexible air tubes 140, and two sets of massage units 180, each set of massage unit 180 includes a wearing band 110 and a pneumatic flexible bionic finger module 120, the wearing band 110 of each set is fixed on the waist fixing device 310, and the back fixing device 320 is connected to the two wearing bands 110 respectively for fixing the relative position therebetween. The control box 330 includes two micro-switch valves 132, namely a first micro-switch valve 1322 and a second micro-switch valve 1324, and each micro-switch valve 132 controls one of the pneumatic flexible bionic finger modules 120 on the wearing band 110. In this embodiment, the fixing position of the control box 330 can be flexibly selected according to the requirement, and is not limited to be fixed on the wearing band 110, but can also be fixed on the waist fixing device 310 or the back fixing device 320, or can be fixed at the front end or the rear end of the wearing band 110, or any position. The specific connection relationship with other elements is the same as that of the first embodiment.

In summary of the above embodiments, in the present invention, taking fig. 2 as an example, a set of massage units 180 is formed by a wearable band 110 and a pneumatic flexible bionic finger module 120, and is used for massaging a human body part, and each set of massage units 180 includes a first finger unit 124 and a second finger unit 126. In a first embodiment, as shown in fig. 5, the set of massage units 180 is controlled by a micro-switch valve 132. In the second embodiment, the set of massage units 180 is controlled by two micro-switch valves 132, each micro-switch valve 132 controlling one first finger unit 124 or second finger unit 126. In the third embodiment, two sets of massage units 180 are included, each massage unit 180 massages one shoulder, and the embodiment includes two micro switch valves 132, each micro switch valve 132 controls one set of massage units 180, that is, the first finger unit 124 and the second finger unit 126 in each set of massage units 180 are simultaneously controlled to press in compressed air or to draw out compressed air.

The wearable pneumatic flexible bionic massage device provided by the fourth embodiment of the utility model comprises two groups of massage units, wherein each massage unit comprises four finger units, namely a first finger unit and a second finger unit; the wearable pneumatic flexible bionic massage device further comprises four flexible air pipes 140, and each flexible air pipe 140 is connected with one first finger unit or one second finger unit through an air path. Fig. 16 is a schematic diagram of the internal structure of a control box according to a fourth embodiment of the present invention. The control box 130 includes four micro-switch valves 132, and each micro-switch valve 132 is connected to one of the first finger unit or the second finger unit for controlling the closing of the finger unit. Thus, in the present embodiment, the four finger units are controlled by the four micro-switch valves 132 through the four flexible air tubes 140, respectively.

The utility model discloses a wearable pneumatic flexible bionic massage device of fifth embodiment is different with the third embodiment in that, including three massage units of group, every massage unit is used for massaging a position respectively, still includes three micro switch valve, a set of massage unit of every micro switch valve control.

The wearable pneumatic flexible bionic massage device of the sixth embodiment of the utility model is similar to the fifth embodiment, and also comprises three groups of massage units, each massage unit is used for massaging one part respectively, each group of massage units comprises a first finger unit and a second finger unit, and the total number of the massage units is six; the difference is that six micro switch valves are included, and each micro switch valve controls the opening and closing of one finger unit.

In the third, fourth, fifth and sixth embodiments of the present application, the fixing manner of the wearing band 110 is a common manner such as a hook-and-loop fastener, a button, an elastic cord, or one end of the wearing band may be fixedly connected to the waist fixing device 310 or the back fixing device 320, and the other end of the wearing band may be fixed by a common manner such as a hook-and-loop fastener, a button, an elastic cord, or the like.

As can be appreciated by those skilled in the art, the massage unit of the present invention can be provided with more than three groups as required, for example, to massage two shoulders, two arms, two legs, and the waist simultaneously. Each group of massage units comprises a first finger unit and a second finger unit. The number of micro switch valves included is the same as the number of the massage units, or twice the number of the massage units. It may even be any integer between the number of massage units and twice the number of massage units, in which case part of the massage units are controlled by one micro-switch valve and part of the massage units are controlled by one finger unit by two micro-switch valves, respectively. On the basis of the principle of the utility model, a plurality of groups of massage units can be arranged according to the different massage positions, and each massage unit can be controlled by one micro-switch valve or two micro-switch valves according to the needs of massage manipulations.

In addition, in the seventh embodiment of the present application, the difference from the other embodiments is that: each massage unit comprises a wearing bandage and more than two pneumatic flexible bionic finger modules. That is, a plurality of pneumatic flexible bionic finger modules share one wearing bandage. In this embodiment, the massage unit is used for massaging, for example, the entire back of a human body, or, for example, massaging the back, waist, buttocks, etc. of a human body, in which case a plurality of pneumatic flexible bionic finger modules are required to act on the human body simultaneously.

In summary, the number of the flexible air pipes is the same as that of the micro switch valves, the flexible air pipes correspond to the micro switch valves one to one, and meanwhile, the number of the pneumatic flexible bionic finger modules in the massage unit is an integral multiple of that of the massage unit, so that the number of the flexible air pipes is one time to two times that of the pneumatic flexible bionic finger modules, and the number of the flexible air pipes is an integer.

The utility model discloses a bionical finger module 120 of pneumatic flexibility adopts flexible material preparation to form, for example silica gel, plastic etc.

In use, the wearing band 110 is fixed on a desired part of a human body, the positive and negative pressure air source 134 outputs compressed air to generate positive pressure, the compressed air enters the first finger unit 124 and the second finger unit 126 through the flexible air tube 140, the plurality of continuous air bags 125 are driven to expand, the first finger unit 124 and the second finger unit 126 are inwardly stretched, and the pneumatic flexible bionic finger module 120 is driven to close. The positive and negative pressure air source 134 exhausts air to generate negative pressure, the plurality of continuous air bags 125 are compressed, the compressed air inside the air bags is sucked away through the flexible air pipe 140, and the air bags 125 are contracted, so that the first finger unit 124 and the second finger unit 126 are stretched outwards, and the pneumatic flexible bionic finger module 120 is driven to be opened outwards. The massage is completed by the reciprocating opening and closing. Different frequencies and air pressure reciprocating actions are adjusted to realize adjustable bionic massage.

Since the first finger unit 124 and the second finger unit 126 are made of flexible materials and the opening and closing states of the first finger unit 124 and the second finger unit 126 are driven by air, the massage strength can be precisely controlled. Under the condition that the system fails or is overloaded, the human body cannot be injured, and the safety of a user is effectively protected. In addition, different hand massage effects can be simulated by adjusting the pressure and the working frequency of the driving gas. Finally, the utility model discloses a wearable pneumatic flexible bionic massage device can be used for the massage of human any position, for example arm, shank, shoulder etc. can massage many positions simultaneously. The wearable and portable household electric appliance is easy to use, and can be widely applied to the household field.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed by the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent changes without departing from the technical scope of the present invention.

Claims (11)

1. The utility model provides a bionical massage device of wearable pneumatic flexibility which characterized in that, includes at least a set of massage unit, control box and flexible trachea, is provided with positive negative pressure air supply and micro-switch valve in this control box, and this massage unit and this micro-switch valve are connected to this flexible trachea leakproofness respectively, and this positive negative pressure air supply and this flexible trachea are connected to this micro-switch valve leakproofness respectively.

2. The wearable pneumatic flexible bionic massage device according to claim 1, characterized in that: each group of massage units comprises a wearable bandage and at least one pneumatic flexible bionic finger module, and the pneumatic flexible bionic finger module is fixed on the wearable bandage.

3. The wearable pneumatic flexible bionic massage device according to claim 2, characterized in that: the pneumatic flexible bionic finger module comprises a housing, a first finger unit and a second finger unit, wherein the first finger unit and the second finger unit are respectively fixed on the housing, and the housing is fixed on the wearing binding band; the first finger element and the second finger element are made of a flexible material.

4. The wearable pneumatic flexible bionic massage device according to claim 3, characterized in that: the first finger unit and the second finger unit respectively comprise a flexible sealing pipe and a plurality of air bags arranged on the flexible sealing pipe, and an air passage for communicating air is arranged between each air bag and the flexible sealing pipe.

5. The wearable pneumatic flexible bionic massage device according to claim 4, characterized in that: an air inlet hole is formed in the housing, and the flexible air pipe is connected with the flexible sealing pipes of the first finger unit and the second finger unit through the air inlet hole.

6. The wearable pneumatic flexible bionic massage device according to claim 1, characterized in that: the positive and negative pressure air source comprises a positive pressure pump and a negative pressure pump, or the positive and negative pressure air source comprises a positive pressure pump and a vacuum generating device.

7. The wearable pneumatic flexible bionic massage device according to claim 2, characterized in that: the number of the flexible air pipes is the same as that of the micro switch valves, the number of the flexible air pipes is one time to two times that of the pneumatic flexible bionic finger modules, and the number is an integer.

8. The wearable pneumatic flexible bionic massage device according to claim 7, characterized in that: each micro switch valve is connected with one flexible air pipe, and each or every two flexible air pipes are connected with one pneumatic flexible bionic finger module.

9. The wearable pneumatic flexible bionic massage device according to claim 2, characterized in that: the number of the massage units is two or more than two groups, the wearable pneumatic flexible bionic massage device further comprises a waist fixing device and a back fixing device, the massage units are fixed on the waist fixing device and the back fixing device, and the control box is fixed on the waist fixing device, the back fixing device or the wearable binding band.

10. The wearable pneumatic flexible bionic massage device according to claim 9, characterized in that: the number of the micro switch valves is four, the number of the flexible air pipes is four, the number of the massage units is two, and the number of the pneumatic flexible bionic finger modules is integral multiple of the number of the massage units.

11. The wearable pneumatic flexible bionic massage device according to claim 1, characterized in that: a micro pressure regulating valve is also arranged between the positive and negative pressure air source and the micro switch valve and used for regulating the positive pressure.

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