CN118593306A - Wearable artificial muscle device - Google Patents
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- CN118593306A CN118593306A CN202410866930.9A CN202410866930A CN118593306A CN 118593306 A CN118593306 A CN 118593306A CN 202410866930 A CN202410866930 A CN 202410866930A CN 118593306 A CN118593306 A CN 118593306A
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- Rehabilitation Tools (AREA)
Abstract
The invention provides a wearable artificial muscle device which is mainly used for rehabilitation training of a human body. The artificial muscle, the basal layer and the control wire are combined together through a technological means to form the wearable flexible object. The flexible object is specifically divided into a one-dimensional directional area and a two-dimensional directional area according to the arrangement mode of artificial muscles; the one-dimensional directional region and the two-dimensional directional region are spliced and combined into the complete wearable artificial muscle device. The purpose of driving the human joint to act by using the external force of the artificial muscles is achieved by controlling the artificial muscles of the one-dimensional directional region and the two-dimensional directional region of different combinations. The invention brings remarkable economic benefit and social benefit by means of biological muscle simulation, multidimensional motion control and the like, provides a new solution for the ankle rehabilitation training field and the like, and has wide market application prospect and social value.
Description
Technical Field
The invention relates to a wearable artificial muscle device, in particular to a wearable artificial muscle external driving system applied to an ankle joint.
Background
Along with the continuous development of technology, intelligent medical equipment and rehabilitation assistance technology play an increasingly important role in the field of medical care, and particularly in physical therapy and rehabilitation training, innovative solutions are continuously emerging, aiming at improving the treatment efficiency, enhancing the comfort level of patients and accelerating the rehabilitation process.
Artificial muscles, which are intelligent materials simulating the functions of biological muscles, have been developed remarkably in the fields of soft robots, intelligent wearing, biomedical engineering, and the like in recent years. Early artificial muscles were mainly composed of a composite material of silicone rubber and polyester, and were put into telescopic motion by changing internal pressure or external stimuli (e.g., electric field, temperature, etc.) (see "artificial muscle-search for dog encyclopedia", 2024, 2, 27). In recent years, scientific researchers further develop yarn-type artificial muscles imitating the vine structure, and realize large-scale production by using a weaving topology weaving technology, so that the novel artificial muscles not only have good expansion performance, but also have low cost, and are suitable for manufacturing intelligent textiles and software robots (the source is 'a yarn' artificial muscles imitating the vine structure '-searching fox net', and 2023, 9 and 20 days). In addition, silk is also explored for manufacturing artificial muscles, and intelligent fabrics capable of sensing and responding to sweat, humidity and temperature changes are developed by utilizing the sensitivity of the silk to environmental stimulus (refer to 'silk' artificial muscles 'so that the intelligent fabrics are more comfortable-hundred thumb medicine' and 8 days in 2019), and the technical progress greatly widens the application prospect of the artificial muscles in the field of medical rehabilitation.
The prior ankle rehabilitation equipment mostly depends on mechanical transmission, pneumatic drive or hydraulic system to realize booster movement, and can assist patients to perform rehabilitation training to a certain extent, but has the problems of larger volume, limited flexibility, poor comfort level and the like. In contrast, artificial muscles are increasingly being introduced into rehabilitation aid designs due to their lightweight, flexible, easy to integrate into fabrics. Studies have shown that artificial muscles, as driving elements, are capable of accurately simulating the dynamic behavior of biological muscles, providing a continuous, smooth and programmable force output (see related research literature), and are particularly suitable for rehabilitation training scenarios requiring fine motion control.
The rapid development of intelligent textile technology enables integration of textiles with electronic devices, sensors and drivers (such as artificial muscles), and creates a multifunctional wearable device integrating monitoring, feedback and intervention. Studies have reported that the incorporation of artificial muscles into fabrics, to form flexible, more adaptable smart garments (e.g., "artificial muscles and artificial skin …",2023, 10, 23), provide the technical basis for the fabric-shaped artificial muscle socks of the present invention. However, existing smart textiles often only achieve a single dimension of stretch or compression in applications for ankle rehabilitation training, lacking a targeted rehabilitation strategy for complex joint movement patterns (e.g., rotation, lateral movement, etc.).
Despite advances in the application of artificial muscle technology and smart textiles in the rehabilitation field, the following challenges remain:
The multi-dimensional motion control is insufficient: the existing rehabilitation equipment based on artificial muscles can only realize motion control in a single dimension, is difficult to simulate a three-dimensional complex motion mode of an ankle joint, and limits the comprehensiveness and effectiveness of rehabilitation training.
Lack of precision and personalized control: in the prior art, the control mode of the artificial muscle is rough, independent and accurate control of a single artificial muscle unit is difficult to realize, and the arrangement of a complex exercise sequence is not beneficial to personalized training according to individual rehabilitation requirements.
Wearing comfort and practicality considerations: the existing rehabilitation equipment possibly fails to fully consider the wearing experience of users during design, such as factors of weight, air permeability, fitting degree and the like, and influences the compliance of long-term wearing and rehabilitation training.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wearable artificial muscle device which is mainly used for rehabilitation training of ankles.
The wearable artificial muscle device (3) is composed of an integrated product of artificial muscles (13, 14), a basal layer (16) and a control wire (17); artificial muscles (13, 14) which function to provide a power source to achieve a telescopic deformation; -a basal layer (16) as a basic structure carrying and supporting said artificial muscles (13, 14), which has flexibility to adapt to deformations; a control wire (17) electrically coupled to the artificial muscle (13, 14) for transmitting control signals to drive the contraction and relaxation actions of the artificial muscle (13, 14); the artificial muscle, the basal layer (16) and the control wire (17) are combined together by a process means to form the wearable flexible object.
The wearable flexible article is arranged according to artificial muscles (13, 14), and is specifically divided into at least two structural forms: comprises one or more artificial muscles (13, 14) which are one-dimensional regions arranged in the same direction; and a two-dimensional directional region comprising two or more artificial muscles (13, 14) arranged in different directions; the one-dimensional directional area and the two-dimensional directional area are spliced and combined to form the complete wearable artificial muscle device (3).
The purpose of driving the human joint to act by using the external force of the artificial muscles is achieved by controlling the artificial muscles of the one-dimensional directional region and the two-dimensional directional region of different combinations.
The invention brings remarkable economic benefit and social benefit by means of biological muscle simulation, multidimensional motion control and the like, provides a new solution for the ankle rehabilitation training field and the like, and has wide market application prospect and social value.
Drawings
FIG. 1 is a general view of the device of the present invention
FIG. 2 is a schematic front view of the device of the present invention in a foot worn condition
FIG. 3 is a schematic front view of the device of the present invention being worn on the foot and wearing a boot
FIG. 4 is a schematic diagram showing the overall layout of artificial muscles of the device of the present invention
FIG. 5 is an enlarged view of the whole layout of artificial muscles of the device of the present invention
FIG. 6 is a partitioned right-side view of the apparatus of the present invention
FIG. 7 is a schematic front view of a partition of the apparatus of the present invention
FIG. 8 one-dimensional of the inventive apparatus schematic cross-section of the directional zone
FIG. 9 two-dimensional of the inventive apparatus schematic cross-section of the directional zone
FIG. 10 is a schematic cross-sectional view of a two-dimensional region of the device of the present invention having a support band portion
FIGS. 11A-E are schematic diagrams of stress and deformation trends of the device of the present invention after local application of electrical control
FIG. 12 is a schematic view of the foot section of the apparatus of the present invention
Marked in the figure:
Lower limb calf (1), boot (2), wearable artificial muscle device (3), calf zone (4), ankle upper zone (5), achilles tendon zone (6), plantar zone (7), ankle anterior zone (8), ankle left zone (81) and ankle right zone (82), dorsum support bar (9), dorsum support bar indent zone (91), ankle left support bar (10), left indent zone (101), ankle right support bar (11), right indent zone (111), achilles tendon support bar (12), achilles tendon indent zone (121), vertical artificial muscle (13), lateral artificial muscle (14), crossover point (15), basal layer (16), control wire (17), external force (18), arch direction (181), foot controlled direction (182, 183, 184, 185, 186), ankle upper part (1001); an achilles tendon site (1002); plantar region (1003); a instep portion (1004); ankle left portion (1005), ankle right portion (1006).
Detailed Description
The following are detailed examples of the invention:
preferred embodiment 1:
the wearable artificial muscle device (3) is composed of an integrated product of artificial muscles (13, 14), a basal layer (16) and a control wire (17).
The products are generally in the form similar to cloth, and the cloth with different shapes is cut and spliced to form the wearable device corresponding to the human body part.
Artificial muscles (13, 14) which function to provide a source of power to effect the telescoping deformation. Under the current technical background, the contraction force provided by each artificial muscle (referred to as a single controllable artificial muscle or the minimum unit of the artificial muscle) is too small in the development process, so that multiple artificial muscles are required to be jointly controlled together to achieve a control effect of larger force.
A basal layer (16) as a basic structure carrying and supporting the artificial muscles (13, 14), which has flexibility to accommodate deformations. Similar to a textile.
A control wire (17) electrically coupled to the artificial muscles (13, 14) for transmitting control signals to drive the contraction and relaxation actions of the artificial muscles (13, 14). The length of the control wire (17) is reserved to ensure that the whole device has a certain safety margin and is not torn off when being stretched.
The artificial muscle, the basal layer (16) and the control wire (17) are combined together by a process means to form the wearable flexible object.
Because the present invention involves a large number of electrical connections, it cannot be produced as a sewn or woven garment. Typical viable production steps may be:
Making a base layer, such as a sock;
placing artificial muscles according to the areas, and wiring;
so that the artificial muscles closely adhere to the basal layer and optionally fill gaps between the artificial muscles;
sleeving a basal layer to cover the artificial muscle;
Attaching a supporting bar according to the area;
the supporting strips are closely attached to the basal layer;
And a layer of basal layer is sleeved to cover the support bars.
The artificial muscle can be provided with a certain overall shape in a mass production mode before being pasted, and the wire harness of the artificial muscle is subjected to preliminary trend setting. Artificial muscles can be attached to thin webs during this production process. Finally, the net is taken as a whole and is attached to a specific area on the sock.
The wearable flexible article is arranged according to artificial muscles (13, 14), and is specifically divided into at least two structural forms:
Comprises one or more artificial muscles (13, 14) arranged in the same direction as the one-dimensional region. When signals are controlled, each artificial muscle element generates the expansion direction of the same dimension to play a role of parallel connection. In addition, each artificial muscle can be independently controlled to achieve the aim of realizing different stretching force effects in a specific small partition of a certain one-dimensional area.
And a two-dimensional directional region comprising two or more artificial muscles (13, 14) arranged in different directions; the one-dimensional directional area and the two-dimensional directional area are spliced and combined to form the complete wearable artificial muscle device (3). A crossed two-dimensional force can be generated, and the resultant force direction can be synthesized according to the force magnitude in two dimension directions.
Preferred example 2:
the artificial muscles (13, 14) are made of dielectric elastomer material, capable of controlled deformation when subjected to electric field variations.
Preferred example 3:
The basal layer (16) also comprises structural support bars (9, 10,11, 12) which adapt to the physiological curve of the human surface; each support bar (9, 10,11, 12) is provided with a concave area (91,101,111,121) which is inwards bent when being extruded by an external force (18) so as to ensure that the wearable artificial muscle device (3) can be tightly fitted with the physiological curve outline of the human surface.
As shown in fig. 11: the artificial muscles of the ankle upper subarea (5) and the achilles tendon subarea (6) basically belong to one-dimensional areas, and when the artificial muscles of the shadow areas are controlled to shorten, external forces (18) are generated at the two ends of the support bar integrally. Since its original shape is curved, a camber direction (181) can be generated. At this time, the above-mentioned shortening action corresponds to the action of the human body's own achilles tendon, i.e., the contraction of the intestine-discharging muscle, pulling the achilles tendon, thereby generating a controlled direction of the foot (182).
Preferred example 4:
The wearable artificial muscle device is particularly applied to an ankle joint, and the wearable artificial muscle device (3) is partitioned into:
A calf section (4) covered by the base layer (16); there is no controlled artificial muscle placement.
An ankle superior region (5) corresponding to the ankle superior region (1001) and an achilles tendon region (6) corresponding to the achilles tendon region (1002) which are formed by the one-dimensional directional regions.
The artificial muscles of the ankle upper subarea (5) and the achilles tendon subarea (6) are shortened in a controlled manner, and mainly the following action effects are generated:
as shown in FIG. 11A, motion in a controlled direction (182) of the foot is produced.
Forming a plantar region (7) corresponding to the plantar region (1003) from the one-dimensional region;
The two-dimensional area corresponds to an ankle front partition (8) of the instep part (1004), an ankle left partition (81) of the ankle left part (1005) and an ankle right partition (82) of the ankle right part (1006).
11B-E, the artificial muscles in the shaded areas are controlled, and correspondingly, motion in the foot controlled directions (183, 184, 185, 186) is produced.
Preferred example 5:
the one-dimensional areas of the ankle upper subarea (5) and the achilles tendon subarea (6) are combined with vertical artificial muscles (13);
The one-dimensional areas of the plantar region (7) combine to traverse the artificial muscle (14);
The two-dimensional areas of the ankle front side subarea (8), the ankle left side subarea (81) and the ankle right side subarea (82) are vertical artificial muscles (13) and transverse artificial muscles (14) which are crossed.
Preferred example 6:
the instep support bar concave area (91) corresponds to the instep of the navicular and cuneiform parts;
the left concave area (101) is positioned in the area corresponding to the space between the medial malleolus and the heel;
The right concave area (111) is positioned in the area corresponding to the space between the lateral malleolus and the heel;
the achilles tendon indent region (121) is located corresponding to the achilles tendon region.
Preferred example 7:
the supporting bars (9, 10,11, 12) are metal spring supporting bars or injection molding polymer supporting bars.
Preferred example 8:
the intersection refers to the mutual intersection angle in the space between 50 and 90 degrees.
Preferred example 9:
The artificial muscle is controlled by adopting an array scanning mode.
In the traditional keyboard control field: the matrix scanning technology arranges a large number of monitoring points in a matrix, and activates the monitoring points row by row through the minimum control lines to identify the state of a specific unit. Widely used in a plurality of fields: in industrial automation, the design of a control panel is simplified, and the system efficiency is improved; the intelligent home system efficiently manages the sensor network; the display screen technology utilizes matrix scanning to lighten pixels, so that the cost is reduced; the wearable device such as a smart watch adopts the technology to construct a touch interface, so that the space and experience are optimized. The matrix scanning realizes accurate management and high-speed response of large-scale data points in an economic and efficient mode, and is a key technology for cross-domain data acquisition and control.
Preferred embodiment 10:
the two-dimensional directional area is intersected with the artificial muscle, and the transverse and longitudinal directions are divided on the electric connection. Layout may also be performed hierarchically.
The specific application embodiment of the invention is the fabric artificial muscle rehabilitation sock, and by virtue of the innovative design and functions, the following remarkable beneficial effects are brought:
Accurately simulate biological muscle movement: the artificial muscle which can be electrically controlled to shorten along the length direction is adopted, the contraction and relaxation actions of the biological muscle can be simulated, the power output similar to that of the human muscle is provided, and the naturalness and the effectiveness of the rehabilitation training actions are ensured.
Multidimensional motion control: by skillfully arranging artificial muscles arranged in a matrix in a one-dimensional area and a two-dimensional area, the accurate control of one-dimensional change (such as expansion) and two-dimensional change (such as rotation and lateral movement) of feet is realized, and various complex motion modes of ankle joints are covered comprehensively, which is obviously superior to the rehabilitation equipment controlled by the traditional single dimension.
Flexible and personalized rehabilitation training: the artificial muscle is similar to the keyboard matrix type independent control design, allows single or multiple muscle units to shrink sequentially or simultaneously, is convenient for accurately arranging complex and progressive rehabilitation exercise sequences according to individual rehabilitation demands and progress, realizes a personalized and stepped training scheme, and is beneficial to accelerating rehabilitation process.
Comfortable and convenient wearing experience: the artificial muscles are tightly combined with the textile fabrics to form a soft and bonded textile fabric-shaped structure, the sock is easy to wear like common socks, good air permeability, comfort and stability are ensured to be provided in the rehabilitation training process, the compliance of patients is improved, and the long-term adherence to rehabilitation training is facilitated.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As used throughout the specification and claims, the word "comprise" is an open-ended term, and thus should be interpreted to mean "include, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (10)
1. A wearable artificial muscle device, characterized by:
The wearable artificial muscle device (3) is composed of an integrated product of artificial muscles (13, 14), a basal layer (16) and a control wire (17);
artificial muscles (13, 14) which function to provide a power source to achieve a telescopic deformation;
-a basal layer (16) as a basic structure carrying and supporting said artificial muscles (13, 14), which has flexibility to adapt to deformations;
a control wire (17) electrically coupled to the artificial muscle (13, 14) for transmitting control signals to drive the contraction and relaxation actions of the artificial muscle (13, 14);
The artificial muscle, the basal layer (16) and the control wire (17) are combined together through a process means to form a wearable flexible object;
The wearable flexible article is arranged according to artificial muscles (13, 14), and is specifically divided into at least two structural forms:
Comprises one or more artificial muscles (13, 14) which are one-dimensional regions arranged in the same direction;
And a two-dimensional directional region comprising two or more artificial muscles (13, 14) arranged in different directions;
the one-dimensional directional area and the two-dimensional directional area are spliced and combined to form the complete wearable artificial muscle device (3).
2. A wearable artificial muscle device as claimed in claim 1, characterized in that the artificial muscle (13, 14) is made of a dielectric elastomer material capable of controlled deformation when subjected to an electric field change.
3. The wearable artificial muscle device of claim 1, characterized in that the base layer (16) further comprises structural support strips (9, 10,11, 12) adapted to the physiological curve of the human surface; each support bar (9, 10,11, 12) is provided with a concave area (91,101,111,121) which is inwards bent when being extruded by an external force (18) so as to ensure that the wearable artificial muscle device (3) can be tightly fitted with the physiological curve outline of the human surface.
4. The wearable artificial muscle device according to claim 1 or 2 or 3, in particular applied to the ankle joint, characterized in that the wearable artificial muscle device (3) is partitioned into:
A calf section (4) covered by the base layer (16);
An ankle upper region (5) corresponding to the ankle upper region (1001) and an achilles tendon region (6) corresponding to the achilles tendon region (1002) which are formed by the one-dimensional regions;
Forming a plantar region (7) corresponding to the plantar region (1003) from the one-dimensional region;
The two-dimensional area corresponds to an ankle front partition (8) of the instep part (1004), an ankle left partition (81) of the ankle left part (1005) and an ankle right partition (82) of the ankle right part (1006).
5. The wearable artificial muscle device of claim 4, wherein:
the one-dimensional areas of the ankle upper subarea (5) and the achilles tendon subarea (6) are combined with vertical artificial muscles (13);
The one-dimensional areas of the plantar region (7) combine to traverse the artificial muscle (14);
The two-dimensional areas of the ankle front side subarea (8), the ankle left side subarea (81) and the ankle right side subarea (82) are vertical artificial muscles (13) and transverse artificial muscles (14) which are crossed.
6. The wearable artificial muscle device of claim 3 or 5, wherein:
the instep support bar concave area (91) corresponds to the instep of the navicular and cuneiform parts;
the left concave area (101) is positioned in the area corresponding to the space between the medial malleolus and the heel;
The right concave area (111) is positioned in the area corresponding to the space between the lateral malleolus and the heel;
the achilles tendon indent region (121) is located corresponding to the achilles tendon region.
7. The wearable artificial muscle device according to claim 6, characterized in that the support bar (9, 10,11, 12) is a metal spring support bar or an injection molded polymer support bar.
8. The wearable artificial muscle device of claim 5, wherein the crossing means that the angle of intersection in space is between 50 ° and 90 °.
9. The wearable artificial muscle device of claim 1 or 8, wherein the artificial muscle is controlled using an array scan.
10. The wearable artificial muscle device of claim 9, wherein the artificial muscles intersected by the two-dimensional regions are segmented laterally and longitudinally in electrical connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410866930.9A CN118593306A (en) | 2024-06-28 | 2024-06-28 | Wearable artificial muscle device |
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| CN202410866930.9A CN118593306A (en) | 2024-06-28 | 2024-06-28 | Wearable artificial muscle device |
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| CN118593306A true CN118593306A (en) | 2024-09-06 |
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| CN202410866930.9A Pending CN118593306A (en) | 2024-06-28 | 2024-06-28 | Wearable artificial muscle device |
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