Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

外骨骼机器人已展示出恢复中风运动障碍的潜力。不幸的是，不良的人机生理耦合会对肌肉和关节造成意外伤害。此外，较差的类人运动学控制将限制人类的自然运动学。未能解决这些问题会导致瓶颈并阻碍其应用。本文提出了简化的肌肉模型和类肌肉运动学模型，在此基础上建立了柔软的腕部外骨骼以实现人与自然的互动。首先，我们将与腕关节有关的冗余肌肉系统从十块肌肉简化为四块肌肉，以实现人机生理耦合。然后，根据上述类似人的肌肉骨骼模型，建立了人形分布式运动学控制，以实现手腕的两个自由度耦合运动学。结果表明，外骨骼的佩戴者可以分别减少43.3％和35.6％的肌肉激活和关节力。此外，机器人的人形运动轨迹相似度达到91.5％。中风患者可以恢复90.3％的自然运动能力，可以满足大多数日常活动。这项工作提供了对外骨骼机器人的人机生理耦合和类人运动学控制的基本认识，以减少中风后并发症。机器人的人形运动轨迹相似度达到91.5％。中风患者可以恢复90.3％的自然运动能力，可以满足大多数日常活动。这项工作提供了对外骨骼机器人的人机生理耦合和类人运动学控制的基本认识，以减少中风后并发症。机器人的人形运动轨迹相似度达到91.5％。中风患者可以恢复90.3％的自然运动能力，可以满足大多数日常活动。这项工作提供了对外骨骼机器人的人机生理耦合和类人运动学控制的基本认识，以减少中风后并发症。