基于肩部协同运动特征的康复外骨骼设计与人机相容性分析

受盂肱关节浮动转动中心的生理运动学属性影响，在基于外骨骼的肩部康复中，人体与外骨骼的兼容性将直接影响康复的效果甚至危及患者的安全。通过分析肩部协同运动特征，提出一种结构紧凑的顺应性肩关节自对准机构，并能够实现独立的锁骨和肩胛骨协同驱动锻炼。基于建立的人机闭链系统，提出4种完整的外骨骼构型，以肩部外骨骼运动空间灵巧性为评价标准，确定了最佳构型，设计并开发肩部外骨骼原型样机。穿戴性能测试试验结果表明，前伸和外摆时人机耦合界面相互作用力从20 N和35 N降低至1 N以下，人体自主外展轨迹和外骨骼穿戴对应点外展轨迹具有良好的吻合性，所提出的顺应性肩部康复外骨骼具有良好的人机相容性。

Exoskeleton Design and Human-Machine Compatibility Analysis for Shoulder Rehabilitation Based on Synergy Characteristic

Affected by the physiological and kinematic properties of the floating rotation center of the glenohumeral joint, the compatibility between the human body and the exoskeleton will directly affect the rehabilitation effect and even endanger the safety of patients in the shoulder rehabilitation based on the exoskeleton. Based on the analysis of the characteristics of the coordinated movement of the shoulder, a compact and compliant self-aligning mechanism for the shoulder joint is proposed, which can realize independent coordinated exercise of the clavicle and scapula. Then, four complete exoskeleton configurations are proposed based on the established human-machine closed chain system. Taking the dexterity of the shoulder exoskeleton motion space as the evaluation criterion, the optimal configuration is determined, and the shoulder exoskeleton prototype is designed and developed. The wear performance test results show that the interaction force of the human-machine coupling interface is reduced from 20 N and 35 N to less than 1 N during protruding and swinging. The human body's autonomous abduction trajectory coincides the corresponding point abduction trajectory of the exoskeleton well. The proposed compliant shoulder rehabilitation exoskeleton has good human-machine compatibility.