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Further, the robotic device must exhibit key dynamic properties that enable both high dynamic transparency for assessment, and implementation of novel interaction control modes that significantly engage the participant. In this paper, we present the kinematic design, dynamical characterization, and clinical validation of the RiceWrist-S, a serial robotic mechanism that facilitates rehabilitation of the forearm in pronation-supination, and of the wrist in flexion-extension and radial-ulnar deviation. The RiceWrist-Grip, a grip force sensing handle, is shown to provide grip force measurements that correlate well with those acquired from a hand dynamometer. Clinical validation via a single case study of incomplete spinal cord injury rehabilitation for an individual with injury at the C3-5 level showed moderate gains in clinical outcome measures. Robotic measures of movement smoothness also captured gains, supporting our hypothesis that intensive upper limb rehabilitation with the RiceWrist-S would show beneficial outcomes.<\/jats:p>","DOI":"10.1017\/s0263574714001490","type":"journal-article","created":{"date-parts":[[2014,6,20]],"date-time":"2014-06-20T10:05:26Z","timestamp":1403258726000},"page":"1415-1431","source":"Crossref","is-referenced-by-count":90,"title":["Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury"],"prefix":"10.1017","volume":"32","author":[{"given":"Ali Utku","family":"Pehlivan","sequence":"first","affiliation":[]},{"given":"Fabrizio","family":"Sergi","sequence":"additional","affiliation":[]},{"given":"Andrew","family":"Erwin","sequence":"additional","affiliation":[]},{"given":"Nuray","family":"Yozbatiran","sequence":"additional","affiliation":[]},{"given":"Gerard E.","family":"Francisco","sequence":"additional","affiliation":[]},{"given":"Marcia K.","family":"O'Malley","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,6,20]]},"reference":[{"key":"S0263574714001490_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/0022-510X(95)00003-K"},{"key":"S0263574714001490_ref47","doi-asserted-by":"publisher","DOI":"10.3200\/35-09-004-RC"},{"key":"S0263574714001490_ref11","doi-asserted-by":"publisher","DOI":"10.1023\/A:1024494031121"},{"key":"S0263574714001490_ref31","doi-asserted-by":"publisher","DOI":"10.1093\/ptj\/72.5.373"},{"key":"S0263574714001490_ref24","first-page":"495","article-title":"Design of a lightweight, cost effective thimble-like sensor for haptic applications based on contact force sensors","volume":"11","author":"Ferre","year":"2011","journal-title":"Design of a lightweight, cost effective thimble-like sensor for haptic applications based on contact force sensors"},{"key":"S0263574714001490_ref8","doi-asserted-by":"publisher","DOI":"10.1056\/NEJMoa0911341"},{"key":"S0263574714001490_ref10","doi-asserted-by":"publisher","DOI":"10.2340\/16501977-0924"},{"key":"S0263574714001490_ref26","doi-asserted-by":"crossref","first-page":"266","DOI":"10.1038\/sj.sc.3100432","article-title":"Creasey,\u201d G, Ditunno. 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