Controlled dynamic pressure delivery is essential for efficiently promoting hemodynamics of the lower extremities in pneumatic compression therapy. Pressure dosage control is challenging because of diverse influencing factors, such as irregular interface contact geometries, different stiffnesses of body tissues and pressure materials, and customized pressure recipes and individual patient demands. To address these challenges, a programmable and self-adaptive dynamic pressure delivery and feedback system for enhanced compression therapy were developed in this study. This system comprised a soft pneumatic actuator (SPA) unit in a stocking laminated with multi-bladder, a programmable pressure control unit for pneumatic and interface pressure control, matrix soft sensors for real-time interface pressure detection, and differential pressure sensors for pneumatic pressure monitoring as well as connective accessories (air tubes and valves). A fluid–structure interaction model was developed to analyse the interaction between the bladder and lower limb by considering essential factors (bladder and soft tissue stiffness, contact area, and bladder-lower limb interface characteristics). An improved proportional–integral–derivative controller was designed to regulate dynamic interface pressure and personalized pneumatic compression treatment. Dedicated software was developed to monitor, process, and display the tested pressure data. In vitro and in vivo experiments were performed to validate the developed system. This study integrated theoretical and experimental approaches to a novel solution for customized dynamic pressure therapy. The findings enhanced our understanding of the working mechanisms and characteristics of the SPA–lower limb system. Moreover, the results serve as a foundation for the design and innovation of advanced programmable units for efficient compression treatment in various applications in healthcare, medicine, and rehabilitation.

在气动压缩疗法中，可控的动态压力传递对于有效促进下肢的血液动力学至关重要。压力剂量控制具有挑战性，因为其影响因素多种多样，例如不规则的界面接触几何形状，身体组织和压力材料的不同刚度以及定制的压力配方和个别患者的需求。为了解决这些挑战，在本研究中开发了用于增强压迫疗法的可编程和自适应动态压力输送和反馈系统。该系统包括一个由多囊层压而成的软气动执行器（SPA）单元，一个用于气动和接口压力控制的可编程压力控制单元，用于实时接口压力检测的矩阵软传感器，以及用于气压监测的差压传感器以及连接附件（空气管和阀门）。通过考虑必要因素（膀胱和软组织刚度，接触面积以及膀胱-下肢的界面特征），开发了一种流体-结构相互作用模型来分析膀胱和下肢之间的相互作用。一种改进的比例积分微分控制器设计用于调节动态界面压力和个性化的气动压缩处理。开发了专用软件来监视，处理和显示测试的压力数据。进行体外和体内实验以验证开发的系统。这项研究综合了理论和实验方法，为定制的动态压力疗法提供了一种新颖的解决方案。这些发现增强了我们对SPA下肢系统的工作机制和特征的理解。此外，这些结果为高级可编程单元的设计和创新奠定了基础，这些可编程单元可在医疗保健，医学和康复等各种应用中进行有效的压缩治疗。