Mechanism Design and Compliant Control Method for Shoulder Joint Exoskeleton Robot

Abstract

This paper provides a comprehensive review of the research status of shoulder joint exoskeleton robots, focusing on analyzing their mechanism design and compliant control methods, and proposing improvement suggestions for existing shortcomings. Currently, shoulder joint exoskeletons primarily adopt three active degrees of freedom (DoFs) to mimic the motion characteristics of the human shoulder ball-and-socket joint, achieving rehabilitation or assistive functions through motor-driven or pneumatic-driven systems. Compliant control systems mainly include position-based impedance control and admittance control to ensure safe and natural human-robot interaction. However, these robots still have numerous shortcomings. Therefore, identifying current limitations and proposing optimization measures for future development by integrating cutting-edge technologies is crucial. This paper addresses the limitations in portability and non-visualized prediction, proposing optimized structural design and mechanical layout to enhance portability, as well as deep integration of multi-system compliant control with intelligent neural algorithms and the introduction of neural network or biomechanics-based predictive algorithms to improve predictability and human-robot interaction performance.