肩部康复外骨骼顺应性研究

Study on the Compliance of Shoulder Rehabilitation Exoskeleton

摘要: 随着我国人口老龄化趋势日益严重，中风等损伤神经系统的疾病频繁发生，可能导致严重的后遗症，包括运动功能障碍和失语症。肩部外骨骼作为先进的医疗康复设备，能够突破传统康复训练的局限性，为患者提供高效、便捷的康复训练。然而在肩部康复训练过程中，盂肱关节中心(CGH)会始终伴随着浮动位移，导致其与外骨骼旋转中心无法对齐，甚至会产生额外的拉扯力影响运动过程的柔顺性和安全性。本文研发了一款肩部康复外骨骼，针对外骨骼的机械系统进行了分析研究，从而使外骨骼在结构上实现康复训练的顺应性，保证康复训练的安全性。

Abstract: With increasingly severe trend of population aging in China, diseases that damage the nervous system, such as strokes, occur frequently and may lead to serious sequelae, including motor dysfunction and aphasia. As an advanced medical rehabilitation equipment, shoulder exoskeleton can break through the limitations of traditional rehabilitation training and provide patients with efficient and convenient rehabilitation training. However, during shoulder rehabilitation training, the center of the glenohumeral joint (CGH) will always be accompanied by floating displacement, causing it to be out of alignment with the exoskeleton rotation center, and even generate additional pulling force, affecting the compliant and safety of the movement process. This paper develops a shoulder rehabilitation exoskeleton, and studies the mechanical system of the exoskeleton, so that the exoskeleton can achieve structural compliance for rehabilitation training and ensure the safety of rehabilitation training.