Structure, sensing and control of pneumatic upper limb rehabilitation system: Review and prospect.

With the development of society, the service level of rehabilitation institutions needs to be improved. Pneumatic drive technology has attracted widespread attention due to its high safety and easy control. As a new type of driving element, pneumatic artificial muscle has important advantages in the field of assisted rehabilitation robots due to its light weight, large output force ratio, strong flexibility, low cost and easy maintenance. This paper comprehensively reviews the field of pneumatic upper limb rehabilitation correction system from four aspects: first, the existing upper limb rehabilitation apparatus are introduced in detail, and the design of pneumatic driven upper limb rehabilitation orthosis system is explained, including the structure, characteristics and working principle of pneumatic artificial muscle; second, the commonly used sensor devices and their processing methods in the current upper limb rehabilitation apparatus are outlined and summarized; third, the control strategies in the upper limb rehabilitation apparatus are discussed, including control strategies based on dynamic and kinematic models, hysteresis models for pneumatic artificial muscles and sensor signal fusion; finally, the existing problems of rehabilitation institutions are analyzed, and the future research and development directions are discussed, aiming to provide a reference for the current and ongoing research in the field of upper limb rehabilitation correction system.