Glenohumeral joint trajectory tracking for improving the shoulder compliance of the upper limb rehabilitation robot.
Journal:
Medical engineering & physics
Published Date:
Mar 1, 2023
Abstract
BACKGROUND: Exoskeletons have become an important tool to help patients with upper extremity motor dysfunction in rehabilitation training and life assistance. In the study of the upper limb exoskeleton, the human glenohumeral joint will produce accompanying movement during the movement of the shoulder joint. This phenomenon causes a positional deviation between the shoulder joint and the exoskeleton, which affects the accuracy of exoskeleton-assisted human movement and the wearing comfort. Spend.