Upper-limb rehabilitation exoskeleton robots are gaining traction in clinical settings for assisting postoperative recovery from rotator cuff tears, offering precise control and personalized training that boost patient engagement. A recent review in the journal Robot systematically examines the key technologies behind these systems, focusing on shoulder joint rehabilitation.
Key takeaways
- Mechanical design: Rigid exoskeletons often simplify the shoulder as a 3-DOF spherical joint, but must accommodate scapulohumeral rhythm via passive/active joints or parallelogram mechanisms to avoid human-robot incompatibility. Flexible designs offer better ergonomic fit.
- Trajectory planning: Three main approaches are compared: polynomial functions for simple, smooth motions; cost-function optimization (e.g., minimizing jerk, energy) for multi-objective goals; and machine learning for adaptive, personalized trajectories, though real-time performance remains a challenge.
- Clinical relevance: Rotator cuff tears are prevalent, especially in the elderly (62% in those over 80). Post-surgical rehab typically spans 24 weeks across four phases, from passive motion to functional strengthening.
- Future trends: Key directions include improved mechanical design, real-time intent recognition, online trajectory planning and control, and personalized active rehabilitation, often leveraging human-in-the-loop optimization and simulation-based training.
For manufacturers and integrators, this review underscores the need for exoskeletons that combine anatomical fidelity, adaptive control, and patient-specific customization to meet diverse clinical demands.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-03-15 · “上肢康复外骨骼机器人关键技术研究综述与展望”