{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T13:47:49Z","timestamp":1770299269130,"version":"3.49.0"},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T00:00:00Z","timestamp":1758067200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,11]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Upper limb motor dysfunction significantly impacts daily activities and quality of life for individuals with stroke. Existing assistive robots often struggle to balance portability, ease of use, and motion assistance. This research presents WELiBot, a novel wearable end-effector-type upper limb assistive robot, designed with a 4R-5R parallel mechanism and an arc-shaped guide rail to provide controlled assistance in lifting, reaching, and circumferential motions. The study introduces the conception of the robot design, focusing on its functional requirements and mechanical structure. The kinematic and static characteristics of WELiBot were analyzed to evaluate its feasibility and effectiveness. Based on this design, a prototype with a 1\/4 arc-shaped guide rail was fabricated to test motion feasibility and assistance effects. To assess its performance, electromyography experiments were conducted with four healthy participants. The results showed a significant reduction in biceps brachii muscle activity, confirming the robot\u2019s ability to reduce user effort. Future work will focus on attaching the guide rail to the body for improved usability and refining the control strategy to enhance motion assistance and adaptability in daily life support applications.<\/jats:p>","DOI":"10.1017\/s0263574725102476","type":"journal-article","created":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T07:45:40Z","timestamp":1758095140000},"page":"3921-3941","source":"Crossref","is-referenced-by-count":0,"title":["Design and analysis of WELiBot for assisting upper limb motion"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4727-2022","authenticated-orcid":false,"given":"Ming","family":"Jiang","sequence":"first","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryohei","family":"Morita","sequence":"additional","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takashi","family":"Shinoda","sequence":"additional","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qizhi","family":"Meng","sequence":"additional","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7272-7132","authenticated-orcid":false,"given":"Andrea","family":"Botta","sequence":"additional","affiliation":[{"name":"Politecnico di Torino"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Giuseppe","family":"Quaglia","sequence":"additional","affiliation":[{"name":"Politecnico di Torino"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[{"name":"University of Rome Tor Vergata"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6910-3329","authenticated-orcid":false,"given":"Yukio","family":"Takeda","sequence":"additional","affiliation":[{"name":"Institute of Science Tokyo"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,9,17]]},"reference":[{"key":"S0263574725102476_ref22","doi-asserted-by":"publisher","DOI":"10.3390\/app11135865"},{"key":"S0263574725102476_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-011-0797-0"},{"key":"S0263574725102476_ref26","first-page":"1012","article-title":"Design of a wearable upper-limb exoskeleton for activities assistance of daily living","volume":"2017","author":"Sui","year":"2017","journal-title":"Proc. IEEE Int. Conf. Adv. Intell. Mechatronics (AIM)"},{"key":"S0263574725102476_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/17474930211065917"},{"key":"S0263574725102476_ref4","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2016.00442"},{"key":"S0263574725102476_ref15","doi-asserted-by":"publisher","DOI":"10.1056\/NEJMoa0911341"},{"key":"S0263574725102476_ref21","first-page":"1","article-title":"Development of an exoskeleton system for elderly and disabled people","volume":"2011","author":"Ivanova","year":"2011","journal-title":"Int. Conf. Inf. Sci. Appl."},{"key":"S0263574725102476_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/0003-9993(94)90161-9"},{"key":"S0263574725102476_ref8","doi-asserted-by":"publisher","DOI":"10.1111\/1440-1630.12342"},{"key":"S0263574725102476_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s10072-017-2995-5"},{"key":"S0263574725102476_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-4422(21)00252-0"},{"key":"S0263574725102476_ref38","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723000899"},{"key":"S0263574725102476_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011262"},{"key":"S0263574725102476_ref13","doi-asserted-by":"publisher","DOI":"10.1136\/jnnp.52.11.1267"},{"key":"S0263574725102476_ref32","first-page":"561","article-title":"Kinematic design and analysis of a wearable end-effector type upper limb assistive robot","volume":"148","author":"Morita","year":"2023","journal-title":"Mech. Mach. Sci."},{"key":"S0263574725102476_ref3","unstructured":"[3] U.S. Department of Veterans Affairs. \u201cManagement of Stroke Rehabilitation,\u201d 2024. https:\/\/www.healthquality.va.gov\/guidelines\/rehab\/stroke\/index.asp [accessed February 17, 2025]."},{"key":"S0263574725102476_ref9","doi-asserted-by":"publisher","DOI":"10.1136\/jnnp.50.6.714"},{"key":"S0263574725102476_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3443545"},{"key":"S0263574725102476_ref12","doi-asserted-by":"publisher","DOI":"10.1136\/jnnp.46.6.521"},{"key":"S0263574725102476_ref7","doi-asserted-by":"publisher","DOI":"10.1097\/MRR.0000000000000169"},{"key":"S0263574725102476_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-06409-8_5"},{"key":"S0263574725102476_ref19","first-page":"883","article-title":"Development of upper-limb type HAL and reaching movement for meal-assistance","volume":"2011","author":"Otsuka","year":"2011","journal-title":"Proc. IEEE Int. Conf. Robot. Biomimetics"},{"key":"S0263574725102476_ref37","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470400133X"},{"key":"S0263574725102476_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-64569-3_9"},{"key":"S0263574725102476_ref27","first-page":"443","article-title":"AXO-SUIT: A modular full-body exoskeleton for physical assistance","volume":"2019","author":"Christensen","year":"2019","journal-title":"Mech. Des. Robot."},{"key":"S0263574725102476_ref23","first-page":"161","article-title":"MIT-MANUS: A workstation for manual therapy and training. I","volume":"1992","author":"Hogan","year":"1992","journal-title":"Proc. IEEE Int. Workshop Robot. Hum. Commun."},{"key":"S0263574725102476_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.11.007"},{"key":"S0263574725102476_ref35","doi-asserted-by":"publisher","DOI":"10.3390\/app10196684"},{"key":"S0263574725102476_ref6","first-page":"CD004433","article-title":"Constraint-induced movement therapy for upper extremities in people with stroke","volume":"10","author":"Corbetta","year":"2015","journal-title":"Cochrane Database Syst. Rev."},{"key":"S0263574725102476_ref25","first-page":"517","article-title":"Improvement of upper limb function for cervical myelopathy through repetitive facilitation exercise and reaching-robot therapy in an adult with cerebral palsy: A case study","volume":"5","author":"Hoei","year":"2019","journal-title":"Asian J. Occup. Ther."},{"key":"S0263574725102476_ref11","doi-asserted-by":"publisher","DOI":"10.1161\/01.STR.0000087172.16305.CD"},{"key":"S0263574725102476_ref33","first-page":"320","article-title":"Design of movement sequences for arm rehabilitation of post-stroke","volume":"2015","author":"Suhaimi","year":"2015","journal-title":"Proc. IEEE Int. Conf. Control Syst. Comput. Eng. (ICCSCE)"},{"key":"S0263574725102476_ref17","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-018-0383-x"},{"key":"S0263574725102476_ref36","first-page":"491","article-title":"Development of a human symbiotic assist arm PAS-Arm","volume":"2009","author":"Higuchi","year":"2009","journal-title":"Proc. IEEE Int. Conf. Rehabil. Robot. (ICORR)"},{"key":"S0263574725102476_ref29","unstructured":"[29] Honda Motor Co., Ltd, \u201c,\u201d https:\/\/global.honda\/jp\/robotics\/weight\/ [accessed January 23, 2025]."},{"key":"S0263574725102476_ref24","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-8-18"},{"key":"S0263574725102476_ref16","doi-asserted-by":"publisher","DOI":"10.1097\/WCO.0b013e32833f61ce"},{"key":"S0263574725102476_ref5","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2014.00459"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574725102476","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,3]],"date-time":"2026-02-03T22:25:27Z","timestamp":1770157527000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574725102476\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,17]]},"references-count":38,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2025,11]]}},"alternative-id":["S0263574725102476"],"URL":"https:\/\/doi.org\/10.1017\/s0263574725102476","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,17]]}}}