Design, Modeling, and Control of a Soft Abdominal Compression Robot for Respiratory Assistance.

Respiratory assistance is commonly used to treat respiratory system diseases or support postoperative recovery, playing a crucial role in patient rehabilitation. However, existing respiratory assistance devices rely on rigid systems, which may pose risks to the human body. To address this, we propose a novel soft abdominal compression robot for respiratory assistance (SACR-RA), which offers personalized and adaptive support. This novel ability is achieved by dynamically adjusting the pressure applied to the abdomen in real-time on the basis of the user's respiratory characteristics. First, we developed a pressure-deformation model for soft pneumatic actuators and confirmed its accuracy through experiments. Next, we developed a human respiratory model that links respiratory assistance levels to lung conditions, enabling flexible adjustment of control strategies on the basis of the user's condition. Accordingly, we designed respiratory pattern control and respiratory intensity control strategies to ensure adaptable support for the user's respiratory needs. Finally, we validated the effectiveness of SACR-RA through respiratory flow and electromyography experiments. The results demonstrated that SACR-RA significantly improves the exchange of air between the user and the environment and reduces the burden on respiratory muscles.