Rehabilitation training apparatus and rehabilitation training system

1. A rehabilitation training apparatus comprising at least one rehabilitation training component, wherein the rehabilitation training component comprises:

a pneumatic flexible actuator;

a powertrain coupled to the pneumatic flexible actuator and configured to rotate

when driven by the pneumatic flexible actuator; and

a receiving portion coupled to the powertrain and configured to receive a training portion and be interlocked with rotation of the powertrain;

wherein the pneumatic flexible actuator comprises a first pneumatic muscle pair, a second pneumatic muscle pair and a third pneumatic muscle pair;

wherein the powertrain comprises a first sub-rotation, a second sub-rotation and a third sub-rotation;

wherein the first sub-rotation, the second sub-rotation and the third sub-rotation are independent with each other; and

wherein the first sub-rotation, the second sub-rotation and the third sub-rotation are coupled to the receiving portion, and act on the receiving portion independently, to cause the receiving portion to be interlocked with rotation in three-degrees-of-freedom of the powertrain.

2. The apparatus of claim 1 , wherein the pneumatic flexible actuator is configured to provide a stroke required for training of the training portion.

3. The apparatus of claim 1 , wherein

the first sub-rotation comprises a first bracket, a first transmission shaft, a first conversion assembly, and a second bracket, wherein:

the first bracket is configured to rotatably support the first transmission shaft;

the first conversion assembly comprises a first rotating component, and the first conversion assembly is configured to convert an antagonistic motion of the first pneumatic muscle pair into rotation of the first rotating component;

the first rotating component and the second bracket are mounted on the first transmission shaft; and

the receiving portion is coupled to the second bracket and is configured to be interlocked with rotation of the second bracket.

4. The apparatus of claim 3 , further comprising a fuselage;

wherein the rehabilitation training apparatus comprises two rehabilitation training components, the two rehabilitation training components are symmetrically disposed on both sides of the fuselage.

5. The apparatus of claim 4 , wherein the fuselage comprises a seat and a backrest.

6. The apparatus of claim 5 , wherein the first pneumatic muscle pair of each of the two rehabilitation training components is positioned within the backrest.

7. The apparatus of claim 3 , wherein

wherein the second sub-rotation comprises the second bracket, a second transmission shaft, a second conversion assembly, and a third bracket, wherein:

the second bracket is configured to rotatably support the second transmission shaft;

the second conversion assembly comprises a second rotating component and the second conversion assembly is configured to convert an antagonistic motion of the second pneumatic muscle pair into rotation of the second rotating component; and

the second rotating component and the third bracket are mounted on the second transmission shaft, so that the third bracket rotates with rotation of the second rotating component; and

wherein the third sub-rotation comprises the third bracket, a third transmission shaft, a third conversion assembly, a first connecting plate, and a second connecting plate, wherein:

the third bracket is configured to rotatably support the third transmission shaft;

the third conversion assembly comprises a third rotating component and the third conversion assembly is configured to convert an antagonistic motion of the third pneumatic muscle pair into rotation of the third rotating component;

the third rotating component is assembled on the third transmission shaft;

the first connecting plate and the second connecting plate are respectively positioned on two sides of the third rotating component and fixed on the third rotating component so as to be interlocked with rotation of the third rotating component; and

the receiving portion is fixed on the first connecting plate and the second connecting plate.

8. The apparatus of claim 7 , wherein the first transmission shaft, the second transmission shaft, and the third transmission shaft are disposed orthogonally to each other.

9. The apparatus of claim 7 , wherein the first sub-rotation further comprises a stop component, and the stop component is configured between the first rotating component and the first bracket.

10. The apparatus of claim 7 , wherein the second sub-rotation further comprises a stop component, and the stop component is configured between the second rotating component and the second bracket.

11. The apparatus of claim 7 , wherein a stepped portion is configured on the first transmission shaft, wherein the stepped portion is configured to receive the first rotating component on the first transmission shaft.

12. The apparatus of claim 7 , wherein a stepped portion is configured on the second transmission shaft, wherein the stepped portion is configured to receive the second rotating component on the second transmission shaft.

13. The apparatus of claim 7 , wherein a boss is configured at an end of the third transmission shaft adjacent to the third bracket to couple the third bracket; and

a third stop component is configured between the second bracket and the third bracket to position the third bracket.

14. The apparatus of claim 7 , wherein a first stop component is configured between the first connecting plate and the third bracket, and a second stop component is configured between the second connecting plate and the third bracket to prevent axial movement of the third rotating component on the third transmission shaft.

15. The apparatus of claim 7 , wherein the third sub-rotation further comprises a flexible guiding component fixed to the third bracket and configured to guide a coupling direction of the third pneumatic muscle pair and the third rotating component to cancel disturbance caused by rotation of the second sub-rotation to rotation of the third sub-rotation.

16. The apparatus of claim 15 , wherein the flexible guiding component comprises a flexible cannula holder, a first flexible sleeve, and a second flexible sleeve;

wherein the flexible cannula holder is fixedly spaced to the third bracket, the first flexible sleeve and the second flexible sleeve are positioned between the flexible cannula holder and the third bracket.

17. A rehabilitation training system, comprising:

a rehabilitation training apparatus according to claim 1 ;

a controller, configured to output a control command;

a driving circuit, configured to receive the control command from the controller;

a gas source, fluidly connected to the rehabilitation training apparatus or the pneumatic flexible actuator of the rehabilitation training apparatus through an electromagnetic valve group; and

the electromagnetic valve group, configured to inflate and deflate the rehabilitation training apparatus or the pneumatic flexible actuator of the rehabilitation training apparatus under control of the driving circuit.