This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion (PROM) exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization. Frozen shoulder is characterized by limited glenohumeral motion and disrupted scapulohumeral rhythm, with therapist-assisted interventions being highly effective for restoring normal shoulder function. While existing robotic solutions replicate natural shoulder biomechanics, they lack the ability to stabilize compensatory movements, such as shoulder shrugging, which are critical for effective rehabilitation. Our proposed device features a 6 Degrees of Freedom (DoF) mechanism, including 5 DoF for shoulder motion and an innovative 1 DoF Joint press for scapular stabilization. The robot employs a personalized two-phase operation: recording normal shoulder movement patterns from the unaffected side and applying them to guide the affected side. Experimental results demonstrated the robot's ability to replicate recorded motion patterns with high precision, with Root Mean Square Error (RMSE) values consistently below 1 degree. In simulated frozen shoulder conditions, the robot effectively suppressed scapular elevation, delaying the onset of compensatory movements and guiding the affected shoulder to move more closely in alignment with normal shoulder motion, particularly during arm elevation movements such as abduction and flexion. These findings confirm the robot's potential as a rehabilitation tool capable of automating PROM exercises while correcting compensatory movements. The system provides a foundation for advanced, personalized rehabilitation for patients with frozen shoulders.

翻译：本文提出了一种新型康复机器人，通过整合先进的肩肱节律稳定技术，旨在解决肩周炎患者被动关节活动度（PROM）训练中的挑战。肩周炎的特征是盂肱关节活动受限及肩肱节律紊乱，而治疗师辅助干预对恢复肩关节正常功能具有显著疗效。现有机器人方案虽能模拟自然肩部生物力学特性，却无法稳定耸肩等代偿运动——这对有效康复至关重要。本装置采用六自由度机构设计，其中5个自由度负责肩部运动，创新性地引入1个肩胛骨按压关节自由度实现肩胛稳定。机器人采用个性化两阶段工作模式：先记录健侧正常肩部运动模式，再将其映射至患侧进行引导。实验结果表明，机器人能以高精度复现记录的运动模式，均方根误差始终低于1度。在模拟肩周炎条件下，该机器人有效抑制了肩胛抬升，延缓代偿运动出现，并引导患侧肩部运动更接近正常肩部运动轨迹，尤其在手臂外展、屈曲等抬升动作中表现突出。这些发现证实了该机器人作为康复工具的潜力，既能自动执行PROM训练，又可纠正代偿运动。该系统为肩周炎患者提供先进个性化康复奠定了技术基础。