|Table of Contents|

[1] Zhang Jingwen, Jia Minping,. Human-machine compatibility and dynamic analysis of a novelunpowered and self-adaptive shoulder rehabilitation exoskeleton [J]. Journal of Southeast University (English Edition), 2020, 36 (2): 138-144. [doi:10.3969/j.issn.1003-7985.2020.02.003]

Human-machine compatibility and dynamic analysis of a novelunpowered and self-adaptive shoulder rehabilitation exoskeleton()

Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

2020 2
Research Field:
Biological Science and Medical Engineering
Publishing date:


Human-machine compatibility and dynamic analysis of a novelunpowered and self-adaptive shoulder rehabilitation exoskeleton
Zhang Jingwen Jia Minping
School of Mechanical Engineering, Southeast University, Nanjing 211189, China
rehabilitation exoskeleton human-machine compatibility kinematic analysis gravity balance
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.


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Biographies: Zhang Jingwen(1995—), female, graduate; Jia Minping(corresponding author), male, doctor, professor, mpjia@seu.edu.cn.
Foundation item: The National Natural Science Foundation of China(No.51675098).
Citation: Zhang Jingwen, Jia Minping. Human-machine compatibility and dynamic analysis of a novel unpowered and self-adaptive shoulder rehabilitation exoskeleton[J].Journal of Southeast University(English Edition), 2020, 36(2):138-144.DOI:10.3969/j.issn.1003-7985.2020.02.003.
Last Update: 2020-06-20