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Design and analysis of rigid-flexible coupling joints of shoulder exoskeleton with variable stiffness characteristics
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DOI：10.1016/j.ijsolstr.2026.114070.png)
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Abstract
En 中文
Achieving compatible and safe physical human-robot interaction is a critical requirement in exoskeleton design. To address the kinematic mismatch often found in shoulder exoskeletons while satisfying stiffness requirements, this paper proposes a rigid-flexible coupling joint with variable stiffness based on a winding mechanism. We designate this device as the shoulder-humeral regulator. By incorporating elastic elements, the regulator provides necessary compliance, while the winding mechanism allows for rapid and easy stiffness adjustment. These features optimize human-robot coupling during shoulder movement and enhance the overall performance of the exoskeleton. A physical prototype was fabricated to validate its kinematic range and stiffness properties. Furthermore, dynamic musculoskeletal simulations demonstrate that the variable stiffness characteristics of the shoulder-humeral regulator significantly improve human-robot compatibility by effectively absorbing localized parasitic loads and accommodating complex joint misalignments.
Keywords:
shoulder exoskeleton
variable stiffness
rigid-flexible coupling
kinematic mismatch
human-robot interaction
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3.8
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1.1W
Citations:
3.1W
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