Low-cost wearable rehabilitation devices using flexible pneumatic cylinder with built-in pneumatic driving system

Recently, the rehabilitation device using a soft pneumatic actuator for the disabled are actively researched and developed because of the insufficient number of physical therapists. In the previous study, the wrist rehabilitation device using flexible robot arm that consisted of three flexible pneumatic cylinders was proposed and tested. The portable rehabilitation device using a flexible spherical actuator that consists of two flexible pneumatic cylinders was also proposed and tested. The driving system that consists of controllers and valves in both devices had to set on outside. It requires relatively larger space and disturbs the portability for user. In this study, to improve their portability and safety, the portable and wearable rehabilitation devices with built-in pneumatic driving system controlled by embedded controller are proposed and tested. The attitude controls of both devices are also carried out. As a result, it is confirmed that they are lightweight and can operate by only giving pneumatic and electric power supply.