东南大学学报（英文版）2020，Vol.36Issue(2)：138-144,7.DOI:10.3969/j.issn.1003-7985.2020.02.003
新型无动力自适应肩关节康复外骨骼的人机相容性及动力学分析
Human-machine compatibility and dynamic analysis of a novel unpowered and self-adaptive shoulder rehabilitation exoskeleton
摘要
Abstract
To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral (CGH) unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N · m,and the feasibility of the mechanism is also verified.关键词
康复/外骨骼/人机相容性/运动分析/重力平衡Key words
rehabilitation/exoskeleton/human-machine compatibility/kinematic analysis/gravity balance分类
医药卫生引用本文复制引用
章競文,贾民平..新型无动力自适应肩关节康复外骨骼的人机相容性及动力学分析[J].东南大学学报（英文版）,2020,36(2):138-144,7.基金项目
The National Natural Science Foundation of China (No.51675098). （No.51675098）
