Over the past years, robot-aided rehabilitation has gained traction to regain lost mobility in upper limb due to stroke. In most cases, rehabilitative robotic devices have not considered movement of shoulder joint center (center of glenohumeral joint); however, this movement leads to misalignment of human joints with robot joints, which is undesirable in any circumstances. In this research, a 2 degrees of freedom (DOF) ergonomic robotic shoulder, namely RDS-2, was developed to realize full range of motion (ROM) for abduction/adduction and vertical flexion/extension. Two mechanisms, which were designed in our previous research, have been included to realize shoulder elevation/depression and shoulder protraction/retraction during shoulder movement. To control the exoskeleton, a simple hybrid non-liner control approach based on model robot’s dynamic model and its tracking error was developed. The stability of the controller was proved by Lyapunov stability. Experiments were done with slow, medium and fast pre-determined trajectories to see the efficacy of the used controller. The results show stability and robustness of used control approach for developed ergonomic shoulder.

在过去的几年中，机器人辅助的康复已获得牵引力，以恢复中风导致的上肢失去活动能力。在大多数情况下，康复型机器人设备未考虑肩关节中心（盂肱关节中心）的运动。然而，这种运动导致人的关节与机器人的关节未对准，这在任何情况下都是不希望的。在这项研究中，开发了一种2自由度（DOF）的人体工学机器人肩膀，即RDS-2，以实现外展/内展和垂直屈曲/伸展的全范围运动（ROM）。在我们先前的研究中设计了两种机制，以实现肩膀运动过程中的肩膀抬高/压抑和肩膀伸缩/缩回。为了控制外骨骼，提出了一种基于模型机器人动态模型及其跟踪误差的简单混合非线性控制方法。Lyapunov稳定性证明了控制器的稳定性。用慢，中和快的预定轨迹进行实验，以查看所用控制器的功效。结果表明，所开发的人体工学肩膀采用的控制方法具有稳定性和鲁棒性。