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

doi:10.3901/JME.2022.19.034

机械工程学报 ›› 2022, Vol. 58 ›› Issue (19): 34-44.doi: 10.3901/JME.2022.19.034

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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

申慧敏¹, 葛瑞康¹, 葛迪¹, 李炳初¹, 甘屹¹, 秦龙辉², 杨赓³

1. 上海理工大学机械工程学院上海 200093;
2. 东南大学机械工程学院南京 211189;
3. 浙江大学流体动力与机电系统国家重点实验室杭州 310027

收稿日期:2021-09-05 修回日期:2022-03-15 出版日期:2022-10-05 发布日期:2023-01-05
通讯作者: 杨赓(通信作者)，男，1980年出生，博士，研究员，博士研究生导师。主要研究方向为智能机器人及人-机交互技术。E-mail：yanggeng@zju.edu.cn
作者简介:申慧敏，女，1987年出生，博士，副教授。主要研究方向为生机电一体化技术。E-mail：hmshen@usst.edu.cn
基金资助:
国家自然科学基金 (51975513)、国家自然科学基金重大项目(51890884)、浙江省基础青年基金(LR20E050003)和宁波科技创新2025重大专项(2020Z022)资助项目。

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

SHEN Huimin¹, GE Ruikang¹, GE Di¹, LI Bingchu¹, GAN Yi¹, QIN Longhui², YANG Geng³

1. School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093;
2. School of Mechanical Engineering, Southeast University, Nanjing 211189;
3. State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027

Received:2021-09-05 Revised:2022-03-15 Online:2022-10-05 Published:2023-01-05

摘要/Abstract

摘要： 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。

关键词: 肩部康复外骨骼, 协同运动, 人机相容性, 自对准机构, 灵巧性

Abstract: 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.

Key words: shoulder rehabilitation exoskeleton, synergy characteristic, human-machine compatibility, self-aligning mechanism, dexterity

中图分类号:

TP24

申慧敏, 葛瑞康, 葛迪, 李炳初, 甘屹, 秦龙辉, 杨赓. 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[J]. 机械工程学报, 2022, 58(19): 34-44.

SHEN Huimin, GE Ruikang, GE Di, LI Bingchu, GAN Yi, QIN Longhui, YANG Geng. Exoskeleton Design and Human-Machine Compatibility Analysis for Shoulder Rehabilitation Based on Synergy Characteristic[J]. Journal of Mechanical Engineering, 2022, 58(19): 34-44.

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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

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

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