Abstract: Abstract: Turning over from supine position is one of effective measures to prevent pressure ulcers for long-term bedridden patients, and it is significant to explore mechanisms of human movement and to personate the design of aided human turnover mechanism. The human shoulders and buttocks are the key force application positions for the aided human turnover. Based on the human anatomy, the spatial motion of the shoulder and buttock bones were analyzed, and the motion marker model was established. In addition, the motion capture experiment of the human supine turnover position was undertaken to obtain figures of the motion trajectory and the feature information of the linkage model of shoulders and buttocks. Through the analysis on the changing progress of the length and angle of the linkage mechanism, the graph geometric analysis and simplification of the linkage mechanism were carried out. Based on the motion trajectory graph fitting, the configuration design of the aided mechanism was completed, with the kinematics simulation implemented. The slight error of simulation and experiment graph fitting proves the rationality of the proposed anthropomorphic aided mechanism method. The results can provide a theoretical basis for the design of the man-machine collaborative rehabilitation mechanism.

Key words: Keywords: turnover, motion capture, motion trajectory, graph fitting, mechanism configuration