Exoskeleton robot for expectoration assistance and control method

An exoskeleton robot for expectoration assistance, comprising:

• a respiratory sensor, a positive pressure module, a negative pressure module, and a control module, wherein:
• the respiratory sensor is configured to acquire a respiratory signal of a user to be assisted, the respiratory signal comprising a respiratory flow rate and an airway pressure;
• the positive pressure module configured to cover an upper abdomen of the user to be assisted;
• the negative pressure module is configured to be arranged on an outer wall of a thoracic cavity of the user to be assisted and is configured to wrap the whole thoracic cavity,
• wherein a closed cavity is formed between a housing of the negative pressure module and the outer wall of the thoracic cavity of the user to be assisted, the closed cavity being a negative pressure cavity;
• wherein, when the user to be assisted needs expectoration, a rigidity of the housing of the negative pressure module increases;
• and
• wherein, when the user to be assisted completes expectoration, the rigidity of the housing of the negative pressure module decreases;
• the control module is respectively connected with the respiratory sensor, the positive pressure module, and the negative pressure module;
• the control module is configured to:
• determine whether the user to be assisted is in an inhalation state according to the respiratory signal;
• control the negative pressure cavity to intermittently pump negative pressure when the user to be assisted is in an inhalation state,
• control the negative pressure module to be in direct communication with an external environment after the inhalation is completed;
• and
• control the positive pressure module to inflate when the user to be assisted is in an exhalation state.