{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,28]],"date-time":"2025-11-28T21:17:07Z","timestamp":1764364627243,"version":"3.40.5"},"reference-count":46,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2023,1,9]],"date-time":"2023-01-09T00:00:00Z","timestamp":1673222400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper\u2019s content focuses on designing and prototyping a robotic brace dedicated to treating scoliosis. Scoliosis is an abnormal spinal curvature affecting 1\u20133% of children and constitutes a major therapeutic problem. In moderate cases of deformity, passive brace treatment is performed. However, this approach can lead to important patient discomfort. So, we propose a robotic solution providing greater mobility and the possibility of adapting the procedure to each patient. The robotic brace we built and tested is composed of three specific rings adapted to the patient\u2019s torso. Each independent module of two consecutive rings is movable through a Stewart\u2013Gough platform-type mechanism. As the robotic brace is lightweight, it brings better portability and improves the patient\u2019s comfort.<\/jats:p><jats:p>The first part of the paper shows the state of the art of bracing techniques: from passive to active orthoses. Next, the mechatronics of the device is detailed, and the robot\u2019s kinematic models are developed. The motion control principle is given. In the last part, motion tests were administered with a healthy human to validate the brace architecture choice and its position and motion control strategies.<\/jats:p>","DOI":"10.1017\/s0263574722001825","type":"journal-article","created":{"date-parts":[[2023,1,9]],"date-time":"2023-01-09T08:10:13Z","timestamp":1673251813000},"page":"1466-1482","source":"Crossref","is-referenced-by-count":9,"title":["Design and position control of a robotic brace dedicated to the treatment of scoliosis"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1364-6009","authenticated-orcid":false,"given":"Rahul","family":"Ray","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Laurence","family":"Nouaille","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Briac","family":"Colobert","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Laurine","family":"Calistri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"G\u00e9rard","family":"Poisson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,1,9]]},"reference":[{"key":"S0263574722001825_ref25","first-page":"291","article-title":"The cheneau concept of bracing - actual standards","volume":"135","author":"Weiss","year":"2008","journal-title":"Stud. 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