EP4583989A1 - Weiche robotische hilfsvorrichtung - Google Patents

Weiche robotische hilfsvorrichtung

Info

Publication number
EP4583989A1
EP4583989A1 EP23772144.4A EP23772144A EP4583989A1 EP 4583989 A1 EP4583989 A1 EP 4583989A1 EP 23772144 A EP23772144 A EP 23772144A EP 4583989 A1 EP4583989 A1 EP 4583989A1
Authority
EP
European Patent Office
Prior art keywords
pneumatic actuator
soft pneumatic
gas
pressure
body part
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23772144.4A
Other languages
English (en)
French (fr)
Inventor
Shea QUINN
Conan BRADLEY
Ross O'HANLON
Rowan ARMSTRONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bioliberty Ltd
Original Assignee
Bioliberty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bioliberty Ltd filed Critical Bioliberty Ltd
Publication of EP4583989A1 publication Critical patent/EP4583989A1/de
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/742—Low pressure systems, e.g. vacuum pump
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
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    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
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    • A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
    • A63B21/0085—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters using pneumatic force-resisters
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    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • A63B21/4019—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs to the hand
    • A—HUMAN NECESSITIES
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    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
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    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4023—Interfaces with the user related to strength training; Details thereof the user operating the resistance directly, without additional interface
    • A63B21/4025—Resistance devices worn on the user's body
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/501—Prostheses not implantable in the body having an inflatable pocket filled with fluid, i.e. liquid or gas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2/68—Operating or control means
    • A61F2002/6809—Operating or control means acoustic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
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    • A61F2002/7615—Measuring means
    • A—HUMAN NECESSITIES
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    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
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    • A—HUMAN NECESSITIES
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
    • A—HUMAN NECESSITIES
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    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry

Definitions

  • a method of using a rehabilitative device of the first aspect, wherein the rehabilitative device is configured to actuate, assist, resist and/or monitor a movement of a body part comprising: donning the device; and using the device to actuate, assist or resist the movement of the body part and/or using the device to monitor the underlying strength, accuracy and/or range of motion of the movement of the body part.
  • a method of monitoring a device comprising a soft pneumatic actuator and a gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part, wherein the soft pneumatic actuator is in fluid communication with the gas pump, and wherein the gas pump is for pressurising and/or depressurising an internal chamber of the soft pneumatic actuator, the device further comprising a pressure sensing means for measuring the pressure of a gas in the internal chamber of the soft pneumatic actuator, the method comprising: measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator, and using the pressure measurement or measurements to estimate any one or any combination of: (a) the volume of the internal chamber of the soft pneumatic actuator; (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and (c) the force (e.g. torque) delivered by the soft pneumatic actuator.
  • the pressure waveform of the soft pneumatic actuator can be used to track the position (e.g. the degree of bending) of the finger.
  • the gas pump comprises a piezoelectric actuator.
  • the piezoelectric actuator is configured to oscillate to generate an acoustic standing wave within an internal cavity of the gas pump (e.g. to drive radial oscillations of fluid pressure in an internal cavity of the gas pump).
  • the piezoelectric actuator is configured to flex at its mechanical resonance.
  • the piezoelectric actuator is a circular actuator and/or is disposed parallel to the end walls enclosing a disc-shaped internal cavity of the gas pump. Therefore, preferably, the piezoelectric actuator oscillates in a direction perpendicular to the end walls of the disc-shaped internal cavity.
  • an end wall of a disc-shaped internal cavity comprises (or is attached to) a piezoelectric actuator.
  • the gas pump comprises an internal cavity enclosed at one end by a driven end wall.
  • the gas pump may comprise two disc-shaped internal cavities disposed adjacent to each other and sharing a driven end wall.
  • a piezoelectric actuator is disposed within a disc-shaped internal cavity between (e.g. located centrally relative) two end walls enclosing the internal cavity.
  • the actuator defines a first (e.g. upper) cavity portion and a second (e.g. lower) cavity portion.
  • the first and second cavity portions are fluidically connected around a perimeter of the piezoelectric actuator to form a single continuous cavity which wraps around the piezoelectric actuator.
  • the piezoelectric actuator may generate an acoustic wrapped standing wave within the disc- shaped internal cavity whereby the acoustic standing wave wraps around the piezoelectric actuator.
  • the (or each) internal cavity of the gas pump is in fluid communication with a gas outlet comprising a valve (e.g. an ultrafast valve) for rectifying an acoustic standing wave to provide gas flow. i.e. the valve rectifies pressure oscillations within the internal cavity for providing a pumping effect.
  • the valved gas outlet is disposed through a generally central portion (e.g. at the centre) of a circular end wall enclosing the disc-shaped internal cavity or through a cylindrical side wall enclosing the disc-shaped internal cavity.
  • the valve is passive (e.g. undriven).
  • the gas pump is configured to pump up to 1 pL (microlitre) of gas per cycle, more preferably up to 0.8 pL, still more preferably up to 0.6 pL, for example up to 0.4 pL, e.g. up to 0.2 pL.
  • the gas pump is configured to pump at least 5 nL (nanolitre) of gas per cycle, more preferably at least 10 nL, still more preferably at least 50 nL, for example at least 0.1 pL.
  • the gas pump is an ultrasonic gas pump.
  • the piezoelectric actuator of the gas pump operates at an ultrasonic frequency.
  • the gas pump operates at at least 18 kHz, more preferably at least 20 kHz.
  • the gas pump operates at at most 26 kHz, more preferably at most 24 kHz, still more preferably at most 22 kHz.
  • the gas pump may operate at from 18 kHz to 25 kHz, preferably at from 20 kHz to 22 kHz.
  • One benefit of operating the gas pump in this frequency range is that the gas pump is non-audible to most users.
  • the gas pump satisfies one or any combination of two or more of the following conditions: a) a peak flow of at least 0.1 L/min, more preferably at least 0.5 L/min, still more preferably at least 1 L/min, for example at least 1.5 L/min; b) a peak flow of at most 5 L/min, more preferably at most 4 L/min, still more preferably at most 3 L/min, for example at most 2 L/min; c) a peak pressure of at least 100 mbar(g), more preferably at least 200 mbar(g), still more preferably at least 300 mbar(g); d) a peak pressure of at most 2 bar(g), more preferably at most 1.5 bar(g), still more preferably at most 1 bar(g), for example at most 800 mbar(g); e) a peak vacuum of at least -100 mbar(g), more preferably at least - 150 mbar(g), still more preferably at least -200 mbar(g);
  • the gas pump comprises a disc-shaped internal cavity having a cylindrical side wall height of from 0.2 mm to 10 mm, more preferably from 0.4 mm to 6 mm, still more preferably from 0.6 mm to 2 mm, for example around 1 mm; and k) the gas pump comprises a disc-shaped internal cavity having a radius of from 2 mm to 90 mm, more preferably from 4 mm to 60 mm, still more preferably from 6 mm to 30 mm, most preferably from 8 mm to 15 mm, for example around 10 mm.
  • suitable pumps include the piezoelectric resonant acoustic gas pumps disclosed in international patent application publications WO-A1-2006/111775, WO-A1-2009/112866, WO-A1-2010/139916, WO-A1-2010139917, WO-A1-2010139918, WO-A1-2011/095795A1 and/or WO-A1-2015/087086, the entire contents of which are herein incorporated by reference.
  • a more specific (but non limiting) example of suitable pumps include the piezoelectric resonant acoustic gas pumps illustrated in Figures 4 to 9 and described from page 12, line 25 to page 22, line 8 of international patent application publication WO-A1-2015/087086 referenced above.
  • the device comprises at least two soft pneumatic actuators (see below)
  • the device preferably comprises at least two gas pumps (more preferably, the device comprises two gas pumps).
  • each soft pneumatic actuator is in fluid communication with a single, dedicated gas pump.
  • all the soft pneumatic actuators are in fluid communication with a general pump outlet, e.g. where the at least two gas pumps are configured in a series or parallel arrangement.
  • the first and second end walls comprise a resilient material (e.g. an elastomeric material) and/or are configured to expand and/or contract when the soft pneumatic actuator is pressurised/depressurised.
  • a resilient material e.g. an elastomeric material
  • the first end wall and second end wall of each pair of adjacent cells expand and therefore push against each other. The pushing force between cells of the actuator body cause the soft pneumatic actuator to bend.
  • the device comprises a pressure sensing means for measuring gas pressure of (e.g. inside) the soft pneumatic actuator. More preferably, the pressure sensing means is for measuring gas pressure of the internal chamber of the actuator body. Preferably, the pressure sensing means is in fluid communication with the soft pneumatic actuator. More preferably, the pressure sensing means is in fluid communication with the internal chamber of the actuator body.
  • the pressure sensing means may be in fluid communication with a conduit fluidly connecting the soft pneumatic actuator and the gas pump (e.g. the conduit is a branched conduit).
  • a conduit fluidly connecting the soft pneumatic actuator and the gas pump comprises a junction, such as a T-junction, in fluid communication with the pressure sensing means.
  • the pressure sensing means is configured to measure pressures above and/or below ambient atmospheric pressure (e.g. above and/or below 1 atm).
  • the pressure sensing means is configured to measure gauge pressure.
  • the pressure sensing means comprises an absolute pressure sensor.
  • the pressure sensing means comprises a differential pressure sensor.
  • the pressure sensing means comprises two absolute pressure sensors or an absolute pressure sensor and a barometric pressure sensor. Where the pressure sensing means comprises two absolute pressure sensors, it is preferred that a first absolute pressure sensor is configured to measure positive gauge pressure and a second absolute pressure sensor is configured to measure negative gauge pressure.
  • the venting means is disposed upstream to (i.e. closer to the gas pump than) the pressure sensing means along the line of fluid communication between the soft pneumatic actuator and the gas pump.
  • the venting means is disposed between the junction and the gas pump.
  • the device comprises from two to five soft pneumatic actuators, i.e. the device preferably comprises two, three, four or five soft pneumatic actuators.
  • the device comprises four soft pneumatic actuators, each actuator is engageable with (e.g. attachable to) one finger of a hand. i.e. each of four fingers can receive a dedicated soft pneumatic actuator.
  • each actuator is engageable with (e.g. attachable to) one finger or the thumb of a hand.
  • the assistive or rehabilitative device comprises a soft pneumatic bending actuator and a piezoelectric resonant acoustic gas pump (or a gas pump that is configured to generate and rectify an acoustic standing wave to provide gas flow), the soft pneumatic bending actuator configured to actuate, assist and/or resist extension and/or flexion movement of a digit or digits of a hand (preferably, a human hand), wherein the soft pneumatic bending actuator is in fluid communication with the gas pump, the gas pump for pressurising and/or depressurising the soft pneumatic bending actuator.
  • the gas pump is for pressurising and/or depressurising an inside or an internal chamber of the soft pneumatic bending actuator.
  • the gas pump comprises a disc-shaped internal chamber.
  • the device comprises a pressure sensing means for measuring gas pressure of the soft pneumatic bending actuator.
  • the pressure sensing means is in fluid communication with the soft pneumatic bending actuator (e.g. an inside or an internal chamber of the soft pneumatic bending actuator).
  • the device comprises a gas pump manifold for directing and/or controlling gas flow from and/or to the gas pump (or gas pumps), e.g. for directing and/or controlling gas flow through the device.
  • a gas pump manifold for directing and/or controlling gas flow from and/or to a gas pump (or gas pumps) of an assistive or rehabilitative device.
  • the device comprises a soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part.
  • the soft pneumatic actuator is in fluid communication with the gas pump and/or the gas pump is for pressurising the soft pneumatic actuator.
  • the gas pump manifold will be described as applicable to both the first and second aspects of invention.
  • features of the first aspect of invention above may be incorporated into the second aspect of invention.
  • Non-limiting examples of such features of the first aspect include the soft pneumatic actuator, the gas pump (in particular, the piezoelectric resonant acoustic gas pump), the pressure sensing means, the soft pneumatic actuator venting means, the soft pneumatic actuator isolating means, their subfeatures, and their configuration relative to each other.
  • the gas pump manifold may comprise conduits, e.g. hoses (such as the air hose described above) or tubes, and valves configured to direct and/or control gas flow from and/or to the gas pump (or gas pumps).
  • the conduits are flexible.
  • the gas pump manifold may comprise a manifold body (or manifold block) comprising internal conduits, the manifold body enclosing or housing valves, the internal conduits and valves arranged to direct and/or control gas flow from and/or to the gas pump (or gas pumps).
  • the device (more preferably, the gas pump manifold) is configured to interchange between a first pumping direction state wherein the gas pump may pressurise the soft pneumatic actuator and a second pumping direction state wherein the gas pump may depressurise the soft pneumatic actuator. Therefore, preferably, in the first pumping direction state (when the gas pump is in operation) gas flows in the direction of (i.e. is pumped into) the soft pneumatic actuator and in the second pumping direction state (when the gas pump is in operation) gas flows in a direction away from (i.e. is pumped out of) the soft pneumatic actuator, e.g. to atmosphere.
  • the device (more preferably, the gas pump manifold) comprises a pumping direction interchange means configured such that in the first pumping direction state a general pump inlet is in fluid communication with atmosphere and a general pump outlet is in fluid communication with the soft pneumatic actuator and in the second pumping direction state the general pump inlet is in fluid communication with the soft pneumatic actuator and the general pump outlet is in fluid communication with atmosphere.
  • a pumping direction interchange means configured such that in the first pumping direction state a general pump inlet is in fluid communication with atmosphere and a general pump outlet is in fluid communication with the soft pneumatic actuator and in the second pumping direction state the general pump inlet is in fluid communication with the soft pneumatic actuator and the general pump outlet is in fluid communication with atmosphere.
  • the pumping direction interchange means comprises (or is) a pumping direction valve arrangement.
  • the pumping direction interchange means comprises (or consists of) two 3/2- way valves.
  • a 3/2- way valve comprises an inlet port, an outlet port, and an exhaust port, wherein in a first (or open) position the outlet port is in fluid communication with the inlet port and in a second (or closed) position the outlet port is in fluid communication with the exhaust port.
  • the pumping direction interchange means (more preferably, the pumping direction valve arrangement) comprises: a first two-way valve comprising a first inlet, a first outlet and a first exhaust, and a second two- way valve comprising a second inlet, a second outlet and a second exhaust, wherein the first outlet is in fluid communication with the general pump inlet and the second outlet is in fluid communication with the general pump outlet, wherein one of the first inlet and the first exhaust is in fluid communication with atmosphere and the other of the first inlet and the first exhaust is in fluid communication with the soft pneumatic actuator, wherein one of the second inlet and the second exhaust is in fluid communication with atmosphere and the other of the second inlet and the second exhaust is in fluid communication with the soft pneumatic actuator, and wherein the first and second valves are operable such that in the first pumping direction state the first outlet is in fluid communication (i.e.
  • the first outlet is in fluid communication with the soft pneumatic actuator and in the second pumping direction state the first outlet is in fluid communication with the soft pneumatic actuator and the second outlet is in fluid communication with atmosphere.
  • the first inlet is in fluid communication with atmosphere and the first exhaust is in fluid communication with the soft pneumatic actuator or the first inlet is in fluid communication with the soft pneumatic actuator and the first exhaust is in fluid communication with atmosphere.
  • the second inlet is in fluid communication with atmosphere and the second exhaust is in fluid communication with the soft pneumatic actuator or the second inlet is in fluid communication with the soft pneumatic actuator and the second exhaust is in fluid communication with atmosphere.
  • first inlet and the second exhaust are in fluid communication with atmosphere and the first exhaust and the second inlet are in fluid communication with the soft pneumatic actuator.
  • first inlet and the second exhaust are in fluid communication with the soft pneumatic actuator and the first exhaust and the second inlet are in fluid communication with atmosphere.
  • a gas pump inlet of the first gas pump is in fluid communication with the general pump inlet
  • a gas pump outlet of the first gas pump and a gas pump inlet of the second gas pump are in fluid communication with each other
  • a gas pump outlet of the second gas pump is in fluid communication with the general gas pump outlet.
  • the pumping mode interchange means comprises: a third two-way valve comprising a third inlet, a third outlet and a third exhaust, and a fourth two-way valve comprising a fourth inlet, a fourth outlet, and optionally a fourth exhaust, wherein the fourth exhaust is blocked, wherein a first pump inlet and the fourth outlet are in fluid communication with a general pump inlet, the fourth inlet is in fluid communication with a second pump inlet, a second pump outlet is in fluid communication with a general pump outlet, a first pump outlet is in fluid communication with the third outlet, wherein one of the third inlet and the third exhaust is in fluid communication with the second pump inlet and the other of the third inlet and the third exhaust is in fluid communication with the general pump outlet, and wherein the third and fourth valves are operable such that in the first pumping mode the third outlet is in fluid communication with the general pump outlet and the fourth outlet is in fluid communication with the second pump inlet (e.g. the fourth valve is open) and in the second pumping mode the third outlet
  • the third valve and the fourth valve may be normally open or normally closed valves.
  • the third valve and fourth valve are both normally open or both normally closed valves.
  • the microcontroller is configured to communicate with the gas pump or gas pump driver with universal asynchronous receiver-transmitter (UART) signals.
  • the microcontroller is configured to communicate with the gas pump manifold (e.g. valves of the gas pump manifold) and any further valves with valve control signals.
  • the valves are controlled using at least metal oxide semiconductor field-effect transistors (MOSFET).
  • a method of using a rehabilitative device of the first aspect, wherein the rehabilitative device is configured to actuate, assist, resist and/or monitor a movement of a body part comprising: optionally, providing the device to a user in need of rehabilitation; donning the device; optionally, priming the soft pneumatic actuator by pressurising or depressurising the soft pneumatic actuator to a pre-determined pressure level using the gas pump; optionally, intermittently or continuously measuring the pressure of the soft pneumatic actuator; optionally, providing (i.e.
  • the soft pneumatic actuator is positioned or fixed in relation to the corresponding body part of a user.
  • the pressure measurement or measurements is/are used for any one or any combination of: (a) tracking the three-dimensional position or displacement of the body part; (b) determining the starting or resting position of the body part; (c) determining when the gas pump should be turned on and/or off or determining when pressurisation and/or depressurisation of the internal chamber should start or stop (e.g. in response to a movement of the body part); and (d) monitoring the strength of the body part or the resistance of the body part to actuation by the soft pneumatic actuator.
  • the body part is a finger.
  • the soft pneumatic actuator is a bending actuator.
  • the pressure measurement or measurements is/are used to track the degree of extension and/or flexion (e.g. to track the degree of bending) of the finger.
  • the pressure measurement or measurements is/are used to estimate the degree of spasticity of the body part.
  • pressurisation or depressurisation of the internal chamber is started or is stopped.
  • a sudden change in the pressure of the gas in the internal chamber may indicate that a user has begun a movement or has stopped a movement of the body part.
  • the soft pneumatic actuator may then be used to provide assistance in respect of that movement of the body part.
  • the pressure of the gas in the internal chamber of the soft pneumatic actuator is measured while the gas pump is in operation.
  • the method further comprises providing an instruction for moving the body part to the user.
  • the pressure of the gas in the internal chamber is recorded over time.
  • the pressure of the gas in the internal chamber is measured at intervals, intermittently or continuously (e.g. while the device is in use).
  • the pressure measurement or measurements and/or a characteristic of the change in pressure over time is compared with a corresponding dataset or model, pre-determined for the soft pneumatic actuator, to estimate any one or any combination of: (a) the volume of the internal chamber of the soft pneumatic actuator; (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and (c) the force (e.g. torque) delivered by the soft pneumatic actuator.
  • the soft pneumatic actuator is positioned or fixed in relation to the corresponding body part of a user, and wherein the pressure measurement or measurements is/are used to estimate: the three-dimensional position or displacement of the corresponding body part; and/or the user’s strength in respect of a movement of the corresponding body part.
  • the method further comprises measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator concurrently with or subsequent to a first external movement or a first external resistance applied to the soft pneumatic actuator and then measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator concurrently with or subsequent to a second external movement or a second external resistance applied to the soft pneumatic actuator.
  • the method further comprises providing a first instruction to a user of the device to move or to resist movement of the body part corresponding to the soft pneumatic actuator and then providing a second instruction to a user of the device to move or to resist movement of the body part corresponding to the soft pneumatic actuator.
  • the method is used to estimate the range of motion of the body part.
  • the method further comprises providing a first instruction to a user of the device to move or to resist movement of the body part corresponding to the soft pneumatic actuator and concurrently or subsequently measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator and then providing a second instruction (e.g. different to the first instruction) to a user of the device to move or to resist movement of the body part corresponding to the soft pneumatic actuator and concurrently or subsequently measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator.
  • these steps are used to estimate the range of motion of the body part.
  • an instruction to a user of the device to move the body part is an instruction to move the body part to its greatest extent or to its resting position.
  • the movement of the body part may be: (flexion, extension), (abduction, adduction), circumduction, (elevation, depression), (internal/medial rotation, external/lateral rotation), (dorsiflexion, plantar flexion), (pronation, supination), (inversion, eversion), (protrusion/protraction, retrusion/retraction), (opposition, and reposition) depending on the body part.
  • each single movement is separated by a comma and any two movements that are opposite to each other and thus are a pair are placed in parenthesis.
  • the movement is preferably flexion, extension, abduction, or adduction.
  • the first instruction is an instruction to move the body part to its greatest extent per a first movement of a movement pair and the second instruction is an instruction to move the body part to its greatest extent per a second movement (i.e. opposite to the first movement) of a movement pair.
  • the range of motion of the body part for a given movement pair can be determined using the method.
  • the movement pair is preferably either flexion and extension or abduction and adduction.
  • the method is for use in calibrating the device or for controlling the device.
  • the method further comprises any one or any combination of: providing the device to a user; donning the device; using the device to actuate, assist or resist the movement of the body part; doffing the device; and intermittently charging a power source of the device.
  • a fluid pump is used in place of the gas pump and/or the pressure of a fluid is measured instead of the pressure of a gas.
  • the fluid pump may be a liquid pump and/or the fluid may be a liquid.
  • Figure 1 is a schematic diagram of an assistive and rehabilitative device 101 for wearing on a hand (not shown).
  • the device 101 comprises five soft pneumatic bending actuators 103, 105, 107, 109, 111 for attaching to the digits of the hand.
  • Each soft pneumatic bending actuator 103, 105, 107, 109, 111 is configured for attaching to a specific digit of the hand (i.e. to one of the thumb, the index finger, the middle finger, the ring finger and the little finger).
  • the soft pneumatic bending actuators 103, 105, 107, 109, 111 are configured for attaching to the dorsal side of the digits of the hand, for example by way of a resilient loop(s), a hook and loop strap(s) or a pocket for receiving the digit therein (not shown).
  • Each soft pneumatic bending actuator 103, 105, 107, 109, 111 comprises an internal chamber (not shown) in airtight fluid communication with a gas pump manifold 113 via air hose 119. Further, a pair of gas pump modules 115 and 117 are in airtight fluid communication with the gas pump manifold 113 via air hosing 121.
  • the gas pump manifold 113 comprises a valve arrangement (not shown) for directing and controlling gas flow from and to the pair of gas pump modules 115 and 117.
  • the gas pump manifold 113 can direct gas flow from the pair of gas pump modules 115 and 117 to any one or combination of two or more of the soft pneumatic bending actuators 103, 105, 107, 109, 111.
  • each soft pneumatic bending actuator is preferably in airtight fluid communication with a discrete differential pressure sensor 123.
  • the device 101 comprises a microcontroller 131 for receiving pressure measurements from the differential pressure sensor(s) 123 and for controlling the gas pump modules (e.g. 115, 117) and the gas pump manifold 113.
  • the microcontroller 131 communicates with the gas pump modules (e.g. 115, 117) using universal asynchronous receiver-transmitter (UART) signals.
  • the microcontroller 131 controls the gas pump manifold 113 (and in particular valves of the valve arrangement thereof) using metal oxide semiconductor field-effect transistors (MOSFETs).
  • the device comprises a memory 133, a Bluetooth®-based communication means for communication with a peripheral device, and user interface 137 comprising at least one button (e.g. the at least one button is for turning the device on or off).
  • the microcontroller 131, memory 133, Bluetooth®-based communication means 135 and user interface 137 together form a processing and communications system 129.
  • the device 101 further comprises a rechargeable battery in electrical communication with and for powering the pneumatic control system 127 and the processing and communications system 129.
  • the device 101 comprises a single gas pump module (e.g. 115) or a single gas pump module dedicated to each soft pneumatic bending actuator.
  • the valve arrangement (not shown) of the gas pump manifold 113 does not switch between a first pumping mode and a second pumping mode. In which case, the valve arrangement (not shown) of the gas pump manifold 113 operates in two states.
  • Figure 2 there is illustrated a side view of an assistive and rehabilitative device 201 worn on a hand 202 and comprising five soft pneumatic bending actuators 203, 205 and 207 (two soft pneumatic bending actuators are not shown).
  • Figure 2 is intended to provide an illustrative example of how the device 201 is worn by a user and as such several features discussed above (e.g. the battery, the microcontroller and the user interface) are omitted from view.
  • Soft pneumatic bending actuator 203 is attached to the dorsal side of thumb 209; soft pneumatic bending actuator 205 is attached to the dorsal side of the index finger 211; and soft pneumatic bending actuator 207 is attached to the dorsal side of middle finger 213.
  • a first of the further two soft pneumatic bending actuators (not shown) is attached to the dorsal side of the ring finger (not shown) and a second of the further two soft pneumatic bending actuators (not shown) is attached to the dorsal side of the small finger.
  • the thumb and fingers may be referred to as ‘digits’ of a hand 202.
  • the five soft pneumatic bending actuators 203, 205, 207 each comprise a resilient thermoplastic polyurethane (TPU) actuator wall 206 and an internal chamber (not shown).
  • Each soft pneumatic bending actuator 203, 205, 207 comprises, disposed along their length, a plurality of actuator body cells 208 extending upwardly from a lengthwise-inextensible actuator base 210.
  • each of the soft pneumatic bending actuators are attached to their allocated digit by way of straps 215.
  • the straps 215 are resilient and therefore can be stretched when donning and doffing the device 201 (i.e. so a digit can slide through them) but hold their respective soft pneumatic bending actuator firmly in position on the dorsal side of a digit during use of the device 201 by compressing around the digit.
  • the device 201 is securely attached to the hand 202 and wrist 217 by way of compression sleeve 219 and forearm frame 221.
  • a user slides their hand 202 through a forearm frame 221 rear opening (not shown) and the compression sleeve rear opening 223 in a single movement.
  • the soft pneumatic bending actuators 203, 205, 207 may be attached to the digits of the hand 209, 211, 213 by sliding each digit through the respective straps 215.
  • First 227 and second 229 gas pump housings each housing a piezoelectric resonant acoustic gas pump (‘XP Series’ Disc Pump®, supplied by TTP Ventus Eimited of Melboum Science Park, Melbourn, Hertforshire, SG8 6 EE, UK) (not shown), is attached to the top side 228 of the compression sleeve 219.
  • the gas pumps (not shown) of gas pump housings 227 and 229 are in airtight fluid communication with the internal chambers (not shown) of all five soft pneumatic bending actuators 203, 205 and 207 via air hosing 231, 233.
  • the internal chamber of each of the soft pneumatic bending actuators may be in airtight fluid communication with one or two dedicated piezoelectric resonant acoustic gas pumps arranged in series or parallel.
  • each internal chamber of the soft pneumatic bending actuators 203, 205, 207 has a pressure at or close to atmospheric pressure.
  • the piezoelectric resonant acoustic gas pumps (not shown) are used to increase the pressure of the internal chambers of the soft pneumatic bending actuators 203, 205, 207.
  • the soft pneumatic bending actuator 203, 205, 207 When the pressure of the internal chambers (not shown) of the soft pneumatic bending actuator 203, 205, 207 is increased this causes the soft pneumatic bending actuators to bend (discussed in further detail below) which in turn causes or assists flexion movement of the digits, each attached to a soft pneumatic bending actuator.
  • FIGS 3A and 3B illustrate cross-sectional side views of exemplary piezoelectric resonant acoustic gas pumps 301 and 303 (not to scale).
  • the gas pumps 301 and 303 comprise a cylindrical side wall 307, a first circular end wall 309 and a second circular end wall 311.
  • the walls 307, 309 and 311 together enclose an internal disc-shaped acoustic resonant cavity 305.
  • Gas pump 301 comprises a circular piezoelectric actuator 313 attached and parallel to the first circular end wall 309. As such, the first circular end wall 309 is a driven end wall. Gas pump 301 further comprises, through the second circular end wall 311, an un-valved nodal gas inlet 315 and a central gas outlet 317 comprising an ultra-fast valve.
  • the first and second cavity portions 321, 323 are fluidically connected around the perimeter of piezoelectric actuator 313 to form a single continuous acoustic resonant cavity 305 which wraps around the piezoelectric actuator 313.
  • central gas outlet 317 comprising an ultra-fast valve
  • side wall 307 there is an un-valved gas inlet.
  • the piezoelectric actuator 313 of gas pumps 301 and 303 flexes at its mechanical resonance and thus oscillates in a direction perpendicular to the end walls 309, 311.
  • the gas pumps 301 and 303 operate at around 21 kHz.
  • FIG 4 there is illustrated a cross-sectional perspective view of an exemplary soft pneumatic actuator 401.
  • the soft pneumatic actuator 401 comprises an actuator body 403 comprising an actuator wall 405.
  • the actuator wall 405 comprises a top portion 407 and an inextensible base (not shown).
  • the top portion 407 and base (not shown) of the actuator wall 405 enclose an airtight internal chamber 409 of the actuator body 403.
  • the internal chamber 409 of the actuator body 403 is accessed via an internal chamber access means (not shown) which is disposed through the actuator wall 405.
  • the top portion 407 comprises a plurality of generally cuboidshaped cells 411 disposed at equal intervals along the actuator body 403. Each cell 411 extends upward from the base (not shown). Each cell 411 encloses a subchamber 413 of the internal chamber 409.
  • the top portion 407 of the actuator wall 405 consists of a thermoplastic polyurethane elastomer.
  • the compliance of the top portion 407 is higher where its wall thickness is relatively less.
  • Inner side walls 415, 417 are more compliant than top walls (at 411) and outer side walls (at 405) of the cells 411. Therefore, as the pressure of the internal chamber 409 increases the inner side walls 415, 417 will expand at a faster rate by contrast to areas of the top portion 407 that have a thicker wall.
  • Each pair of adjacent cells 419 comprise a first cell having a first side wall 415 proximal to a second side wall 417 of a second cell.
  • the inner side walls 415, 417 expand at a faster rate relative other areas of the top portion 407 as the internal chamber 409 is pressurised.
  • the internal chamber 109 including the sub-chambers 413
  • the first end wall 415 and second end wall 417 of each pair of adjacent cells 419 expand and therefore push against each other.
  • the pushing force between each pair of cells 419 of the actuator body 403 in combination with the inextensible characteristics of the base (not shown) causes the soft pneumatic actuator 401 to bend.
  • FIG. 5A there is illustrated a schematic diagram of a pumping direction valve arrangement 501.
  • the direction valve arrangement 501 comprises a first 503 and a second 505 type 6164 three-position, two-way pneumatic cartridge solenoid valve (supplied by Burkert UK Limited of Fluid Control Centre, 1 Bridge End, Cirencester, GL7 1QY, UK under article number 292601).
  • the first valve 503 and second valve 505 are normally closed valves and each comprises a first/second inlet port ‘ 1’, a first/second outlet port ‘2’ and a first/ second exhaust port ‘3’.
  • the first outlet port is in airtight fluid communication via a conduit with a general pump inlet 507 and the second outlet port is in airtight fluid communication with a general pump outlet 509.
  • FIG. 5B there is illustrated a schematic diagram of a pumping mode valve arrangement 551.
  • the mode valve arrangement 551 comprises a first 553 and a second 555 type 6164 three -position, two-way pneumatic cartridge solenoid valve (supplied by Burkert UK Limited of Fluid Control Centre, 1 Bridge End, Cirencester, GL7 1QY, UK under article number 292601).
  • the first valve 553 and second valve 555 are normally closed valves and each comprises a first/second inlet port ‘ 1’, a first/second outlet port ‘2’ and a first/second exhaust port ‘3’.
  • a first pump inlet 557 of a first pump ‘Pl’ 559 and the second outlet port are in airtight fluid communication with a general pump inlet 559.
  • the second inlet port is in airtight fluid communication with a second pump inlet 561 of a second pump ‘P2’ 563.
  • the second exhaust port is blocked (i.e. fluidically sealed).
  • a second pump outlet 565 of the second pump 563 is in airtight fluid communication with a general pump outlet 567.
  • a first pump outlet 569 of the first pump 559 is in airtight fluid communication with the first outlet port.
  • the first inlet port is in airtight fluid communication with the general pump outlet 567.
  • the first exhaust port is in fluid communication with the second pump inlet 561.
  • the first pump 559 and the second pump 563 are ‘XP Series’ Disc Pump®s, supplied by TTP Ventus Limited of Melboum Science Park, Melbourn, Hertforshire, SG8 6 EE, UK.
  • the first outlet port is in fluid communication with the first exhaust port (i.e. with the second pump inlet 561) and the second outlet port is in fluid communication with the second exhaust port (i.e. is sealed).
  • the first pump outlet 569 is in fluid communication with the second pump inlet 561
  • only first pump inlet 557 is in direct fluid communication with the general pump inlet 559
  • only second pump outlet 565 is in direct fluid communication with the general pump outlet 567. Therefore, the first pump 559 and the second pump 563 are arranged in series.
  • Figure 6B illustrates the pressure (mbar(g)) of the internal chamber of the same soft pneumatic bending actuator over time (s) as the internal chamber is being pressurised by a ‘BL Series’ Disc Pump®, supplied by TTP Ventus Limited (address above).
  • the pressure waveform of Figure 6B i.e. when using a piezoelectric resonant acoustic gas pump
  • Figure 6 A which uses a diaphragm pump.
  • the illustrated reduced ‘distortion’ pressure waveform of Figure 6B generated by the inventive configuration of the present application, can be used to accurately and precisely: track the three-dimensional position of the body part, determine when the pump should be turned on and/or off, and/or monitor the strength of the underlying body part.
  • Figure 7 illustrates a pressure waveform of an internal chamber of a soft pneumatic bending actuator during manual manipulation of the bending actuator.
  • An internal chamber of a soft pneumatic bending actuator was depressurised to approximately -152 mbar(g) and was then fluidically sealed. As can be seen in the first image (from left to right), the bending actuator is hyperextended when depressurised to approximately -152 mbar(g).
  • the sealed bending actuator was then manually bent by approximately 90° (second image) causing the pressure of the internal chamber to reduce to approximately -172 mbar(g).
  • the sealed bending actuator was then manually further bent to approximately 180° (third image) causing the pressure of the internal chamber to further reduce to approximately -184 mbar(g).
  • the sealed bending actuator was then manually retuned to a bend of approximately 90° (fourth image) causing the pressure of the internal chamber to increase back to approximately -164 mbar(g). Finally, the sealed bending actuator was then allowed to return to its natural hyper-extended shape (fifth image) when a pressure of approximately -148 mbar(g) was measured. During the experiment, a slight ingress of gas into the internal chamber of the bending actuator caused pressure measurements of the second 90° stage and the second no-manipulation stage to be slightly higher than the respective first 90° stage and the first no-manipulation stage.
  • This experiment demonstrates that bending a soft pneumatic bending actuator decreases the pressure of the actuator internal chamber and straightening the soft pneumatic bending actuator increases the pressure of the actuator internal chamber. This is because, as the soft pneumatic bending actuator is manipulated the volume of its internal chamber varies which in turn causes the pressure of the actuator internal chamber to vary. As such, this experiment supports that the pressure waveform of an internal chamber of a soft pneumatic bending actuator can be used to track the three-dimensional position of a body part, determine when a pump should be turned on and/or off, and/or monitor the strength of the underlying body part as described above.
  • An assistive or rehabilitative device comprising a soft pneumatic actuator and a piezoelectric resonant acoustic gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part, wherein the soft pneumatic actuator is in fluid communication with the gas pump, and wherein the gas pump is for pressurising and/or depressurising the soft pneumatic actuator.
  • Clause 2 A device according to clause 1, wherein the device further comprises a pressure sensing means for measuring gas pressure of the soft pneumatic actuator.
  • Clause 3 A device according to clause 1 or clause 2, wherein the soft pneumatic actuator is a bending actuator.
  • Clause 7 A device according to any one of the preceding clauses, wherein the device is configured such that the soft pneumatic actuator is engageable with a digit or digits of a hand, such that if the soft pneumatic actuator bends an engaged digit(s) is caused to bend.
  • Clause 9 A device according to any one of the preceding clauses, wherein the device is configured to selectively vent the soft pneumatic actuator to atmosphere.
  • Clause 10 A device according to any one of the preceding clauses, wherein the device is configured to interchange between a first pumping direction state wherein the gas pump may pressurise the soft pneumatic actuator and a second pumping direction state wherein the gas pump may depressurise the soft pneumatic actuator.
  • the pumping direction interchange means comprises: a first two-way valve comprising a first inlet, a first outlet and a first exhaust, and a second two-way valve comprising a second inlet, a second outlet and a second exhaust, wherein the first outlet is in fluid communication with the pump inlet and the second outlet is in fluid communication with the pump outlet, wherein one of the first inlet and the first exhaust is in fluid communication with atmosphere and the other of the first inlet and the first exhaust is in fluid communication with the soft pneumatic actuator, wherein one of the second inlet and the second exhaust is in fluid communication with atmosphere and the other of the second inlet and the second exhaust is in fluid communication with the soft pneumatic actuator, and wherein the first and second valves are operable such that in the first pumping direction state the first outlet is in fluid communication with atmosphere and the second outlet is in fluid communication with the soft pneumatic actuator and in the second pumping direction state the first outlet is in fluid communication with the soft pneumatic actuator and the second outlet is in fluid communication with atmosphere.
  • Clause 19 A device according to any one of the preceding clauses, wherein the gas pump(s) is a micropump and/or an ultrasonic pump.
  • Clause 20 A device according to any one of the preceding clauses, wherein the gas pump satisfies one or any combination of two or more of the following conditions: a) a peak flow of at least 0.1 L/min; b) a peak flow of at most 5 L/min; c) a peak pressure of at least 100 mbar(g); d) a peak pressure of at most 2 bar(g); e) a peak vacuum of at least -100 mbar(g); f) a peak vacuum of at most -1.2 bar(g); g) operates at from 18 kHz to 25 kHz; h) weighs at most 10 g; i) the gas pump in its largest dimension measures at most 80 mm; j) the gas pump comprises a disc-shaped internal cavity having a cylindrical side wall height of from 0.2 mm to 10 mm; and k) the gas pump comprises a disc-shaped internal cavity having a radius of from 2 mm to 90 mm.
  • Clause 21 A device according to any one of the preceding clauses, wherein the device comprises from two to five soft pneumatic actuators, the gas pump or gas pumps for pressurising the soft pneumatic actuators.
  • each soft pneumatic actuator is engageable with an individual digit of a hand or with two adjacent digits of a hand.
  • Clause 23 A device according to clause 21 or clause 22, wherein the device comprises a soft pneumatic actuator selection means configured such that the gas pump or a group of gas pumps pressurise and/or depressurise, in a first selection state, all the soft pneumatic actuators and, in a second selection state, a subset of the soft pneumatic actuators.
  • Clause 24 A method of using an assistive device according to any one of clauses 1 to 23, wherein the assistive device is configured to actuate, assist and/or resist a movement of a body part, the method comprising: donning the device; and using the device to actuate or assist the movement of the body part.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biophysics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Reciprocating Pumps (AREA)
  • Prostheses (AREA)
EP23772144.4A 2022-09-11 2023-09-11 Weiche robotische hilfsvorrichtung Pending EP4583989A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB2213268.2A GB2622575B (en) 2022-09-11 2022-09-11 Soft robotic assistive device
PCT/EP2023/074940 WO2024052578A1 (en) 2022-09-11 2023-09-11 Soft robotic assistive device

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EP4583989A1 true EP4583989A1 (de) 2025-07-16

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Publication number Priority date Publication date Assignee Title
GB0508194D0 (en) 2005-04-22 2005-06-01 The Technology Partnership Plc Pump
GB0804739D0 (en) 2008-03-14 2008-04-16 The Technology Partnership Plc Pump
EP2438335B1 (de) 2009-06-03 2019-08-28 TTP Ventus Ltd Ventil
EP2438301B1 (de) 2009-06-03 2015-10-28 The Technology Partnership Plc Scheibenpumpe
RU2511832C2 (ru) 2009-06-03 2014-04-10 ДЗЕ ТЕКНОЛОДЖИ ПАРТНЕРШИП ПиЭлСи Насос с дискообразной полостью
GB201001740D0 (en) 2010-02-03 2010-03-24 The Technology Partnership Plc Disc pump and valve structure
WO2012148472A2 (en) * 2010-11-19 2012-11-01 President And Fellows Of Harvard College Soft robotic actuators
GB201322103D0 (en) 2013-12-13 2014-01-29 The Technology Partnership Plc Fluid pump
GB2541623A (en) * 2014-06-12 2017-02-22 Nat Univ Singapore Actuator device, method and system for limb rehabilitation
US10912701B2 (en) * 2015-01-07 2021-02-09 The Board Of Regents Of The University Of Texas System Fluid-driven actuators and related methods
US11129766B2 (en) * 2017-04-14 2021-09-28 The Chinese University Of Hong Kong Flexibly driven robotic hands
EP3631212A4 (de) * 2017-05-31 2021-06-09 President and Fellows of Harvard College Textile aktuatoren
US12138214B2 (en) * 2018-12-05 2024-11-12 President And Fellows Of Harvard College Textile actuator and harness system
CN110236880A (zh) * 2019-06-12 2019-09-17 西安交通大学 一种用户自定义被动式气动软体机械手
CN110801372A (zh) * 2019-12-11 2020-02-18 上海司羿智能科技有限公司 手指关节康复训练装置
GB2591468A (en) 2020-01-28 2021-08-04 Ttp Ventus Ltd Valve for controlling a flow of a fluid

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GB2622575A (en) 2024-03-27
GB2632773B (en) 2025-12-17
GB202418128D0 (en) 2025-01-22
GB2622317A (en) 2024-03-13
GB2622575B (en) 2025-01-08
GB202213268D0 (en) 2022-10-26
GB2622317B (en) 2025-01-22
WO2024052578A1 (en) 2024-03-14
US20260077229A1 (en) 2026-03-19
GB2632773A (en) 2025-02-19

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