오십견 환자를 위한 견갑상완리듬 기반 어깨 재활로봇 사용 시 인체 동작 분석: 모션캡처 기반 연구
Motion Capture-Based Analysis of Human Shoulder Movement Using a Scapulohumeral Rhythm-Based Rehabilitation Robot for Frozen Shoulder
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This paper presents a motion capture–based evaluation of a rehabilitation robot that stabilizes the scapula during passive range of motion (PROM) exercises for individuals with frozen shoulder. The robot consists of a 5 degrees of freedom (DoF) arm unit and a 1-DoF scapular stabilization mechanism, designed to replicate scapulohumeral rhythm and suppress excessive scapular elevation. A healthy participant performed normal and frozen shoulder mimic movements while motion capture (acromion cluster method) and encoder data were recorded. To evaluate motion consistency, humeral elevation and scapular upward rotation were measured across repeated trials. Deviations remained within 3.73° and 4.69°, respectively, regardless of conditions. Robot joint movements did not correspond one-to-one with anatomical joint angles, instead reflecting composite upper body motion including trunk compensation. With scapular stabilization activated, compensatory shrugging was reduced and near-normal shoulder motion observed; without it, scapular motion resembled that of the frozen-shoulder mimic. These findings suggest that the robot can guide individualized PROM and support safe, consistent scapulohumeral rhythm training for shoulder rehabilitation.
Abstract
This paper presents a motion capture–based evaluation of a rehabilitation robot that stabilizes the scapula during passive range of motion (PROM) exercises for individuals with frozen shoulder. The robot consists of a 5 degrees of freedom (DoF) arm unit and a 1-DoF scapular stabilization mechanism, designed to replicate scapulohumeral rhythm and suppress excessive scapular elevation. A healthy participant performed normal and frozen shoulder mimic movements while motion capture (acromion cluster method) and encoder data were recorded. To evaluate motion consistency, humeral elevation and scapular upward rotation were measured across repeated trials. Deviations remained within 3.73° and 4.69°, respectively, regardless of conditions. Robot joint movements did not correspond one-to-one with anatomical joint angles, instead reflecting composite upper body motion including trunk compensation. With scapular stabilization activated, compensatory shrugging was reduced and near-normal shoulder motion observed; without it, scapular motion resembled that of the frozen-shoulder mimic. These findings suggest that the robot can guide individualized PROM and support safe, consistent scapulohumeral rhythm training for shoulder rehabilitation.