The invention provides an
upper limb exoskeleton shoulder joint center compensation method and device, and a
system. The method comprises the following steps of: obtaining the upper shoulder abductionangle of a user, the
human body clavicle length of the user and a distance between the
acromioclavicular joint center of the
human body to the glenohumeral joint center of the
human body of the user;according to a preset
shoulder joint center
compensation algorithm, the upper shoulder abduction angle, the human body
clavicle length and the distance, calculating the position information of the user
shoulder joint center; and according to the position information, regulating the position of the
upper limb exoskeleton shoulder joint center to enable the
upper limb exoskeleton shoulder joint center to coincide with the user shoulder joint center in a
horizontal and vertical direction. By use of the method, the
upper limb exoskeleton shoulder joint center can be regulated to coincide with theuser shoulder joint center in the
horizontal and vertical direction, exoskeleton shoulder joint center compensation can be realized without changing an
exoskeleton structure, in addition, driving force can be provided, and the user does not need to overcome additional
motion resistance brought by a compensation mechanism so as to be suitable for the user with insufficient limb strength.