Due to the complex coupled motion of the shoulder mechanism, the design of the guiding movement rules of rehabilitation robots generally lacks specific motion coupling information between the glenohumeral (GH) joint center and humeral elevation angle. This study focuses on establishing a kinematic model of the shoulder complex obtained from a wearable detection system, which can describe the specific motion coupling relationship between the GH joint center displacement variable quantity relative to the thorax coordinate system and the humeral elevation angle. A kinematic model, which is a generalized GH joint with a floating center, was proposed to describe the coupling motion. Twelve healthy subjects wearing the designed detection system performed a right-arm elevation in the sagittal and coronal planes respectively, and the motion information of the GH joint during humeral elevation in the sagittal and coronal planes was detected and quantized, with the analytical formulas acquired based on the experimental data. The differences in GH joint motion during humeral elevation in the sagittal and coronal planes were also evaluated respectively, which also verified the effectiveness of the proposed kinematic model.

中文翻译：

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从可穿戴检测系统获得的肩膀复杂运动学模型。

由于肩部机构的运动复杂，康复机器人的引导运动规则的设计通常缺少盂肱关节中心与肱骨仰角之间的特定运动耦合信息。这项研究的重点是建立从可穿戴检测系统获得的肩部复合体的运动学模型，该模型可以描述GH关节中心位移变量相对于胸廓坐标系与肱骨仰角之间的特定运动耦合关系。提出了运动学模型，该模型是具有浮动中心的广义GH关节，用于描述耦合运动。戴着设计好的检测系统的12名健康受试者分别在矢状面和冠状面进行了右臂抬高，并在肱骨抬高时矢状面和冠状面中GH关节的运动信息进行了检测和量化，并根据实验数据获得了解析公式。还分别评估了肱骨抬高时矢状面和冠状面中GH关节运动的差异，这也验证了所提出运动学模型的有效性。