{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T15:33:56Z","timestamp":1788276836550,"version":"build-2803163510"},"reference-count":56,"publisher":"Cambridge University Press (CUP)","license":[{"start":{"date-parts":[[2023,5,15]],"date-time":"2023-05-15T00:00:00Z","timestamp":1684108800000},"content-version":"unspecified","delay-in-days":134,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"DOI":"10.13039\/501100001804","name":"Canada Research Chairs","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001804","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["cambridge.org"],"crossmark-restriction":true},"short-container-title":["Wearable Technol."],"published-print":{"date-parts":[[2023]]},"abstract":"<jats:title>Abstract<\/jats:title>\n\t  <jats:p>Evaluating exoskeleton actuation methods and designing an effective controller for these exoskeletons are both challenging and time-consuming tasks. This is largely due to the complicated human\u2013robot interactions, the selection of sensors and actuators, electrical\/command connection issues, and communication delays. In this research, a test framework for evaluating a new active\u2013passive shoulder exoskeleton was developed, and a surface electromyography (sEMG)-based human-robot cooperative control method was created to execute the wearer\u2019s movement intentions. The hierarchical control used sEMG-based intention estimation, mid-level strength regulation, and low-level actuator control. It was then applied to shoulder joint elevation experiments to verify the exoskeleton controller\u2019s effectiveness. The active\u2013passive assistance was compared with fully passive and fully active exoskeleton control using the following criteria: (1) post-test survey, (2) load tolerance duration, and (3) computed human torque, power, and metabolic energy expenditure using sEMG signals and inverse dynamic simulation. The experimental outcomes showed that active\u2013passive exoskeletons required less muscular activation torque (50%) from the user and reduced fatigue duration indicators by a factor of 3, compared to fully passive ones.<\/jats:p>","DOI":"10.1017\/wtc.2023.9","type":"journal-article","created":{"date-parts":[[2023,5,15]],"date-time":"2023-05-15T07:44:40Z","timestamp":1684136680000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":23,"title":["Evaluation of a machine-learning-driven active\u2013passive upper-limb exoskeleton robot: Experimental human-in-the-loop study"],"prefix":"10.1017","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4001-0361","authenticated-orcid":false,"given":"Ali","family":"Nasr","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jason","family":"Hunter","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Clark R.","family":"Dickerson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"McPhee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2023,5,15]]},"reference":[{"key":"S2631717623000099_r35","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-022-09855-8"},{"key":"S2631717623000099_r47","doi-asserted-by":"publisher","DOI":"10.1016\/j.enconman.2021.114640"},{"key":"S2631717623000099_r28","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.01.006"},{"key":"S2631717623000099_r38","doi-asserted-by":"publisher","DOI":"10.3390\/robotics11010020"},{"key":"S2631717623000099_r11","first-page":"1","article-title":"The effect of arm support exoskeletons in realistic work activities: A review study","volume":"9","author":"de Vries","year":"2019","journal-title":"Journal of Ergonomics"},{"key":"S2631717623000099_r2","first-page":"436","article-title":"A review of passive and quasi-passive lower limb exoskeletons for gait rehabilitation","volume":"44","author":"Al-Hayali","year":"2021a","journal-title":"Journal of Mechanical Engineering Research and Developments"},{"key":"S2631717623000099_r54","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2016.2521160"},{"key":"S2631717623000099_r4","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3097132"},{"key":"S2631717623000099_r13","doi-asserted-by":"publisher","DOI":"10.1016\/j.jelekin.2005.07.003"},{"key":"S2631717623000099_r48","first-page":"1","volume-title":"Proceedings of the IEEE International Conference on Rehabilitation Robotics","author":"Smith","year":"2013"},{"key":"S2631717623000099_r20","first-page":"8994","article-title":"Design quasi passive exoskeleton for below knee prosthesis","volume":"13","author":"Hassan","year":"2018","journal-title":"Journal of Engineering and Applied Sciences"},{"key":"S2631717623000099_r42","volume-title":"Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","volume":"85444","author":"Nasr","year":"2021c"},{"key":"S2631717623000099_r12","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2020.00031"},{"key":"S2631717623000099_r41","first-page":"83","volume-title":"Proceedings of the 45th Meeting of the American Society of Biomechanics","author":"Nasr","year":"2021b"},{"key":"S2631717623000099_r27","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-012-0197-x"},{"key":"S2631717623000099_r49","doi-asserted-by":"publisher","DOI":"10.3390\/s140406677"},{"key":"S2631717623000099_r33","doi-asserted-by":"publisher","DOI":"10.3390\/robotics10030095"},{"key":"S2631717623000099_r17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.10.001"},{"key":"S2631717623000099_r23","doi-asserted-by":"publisher","DOI":"10.3390\/s20092705"},{"key":"S2631717623000099_r18","doi-asserted-by":"publisher","DOI":"10.3390\/robotics9010016"},{"key":"S2631717623000099_r44","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2812905"},{"key":"S2631717623000099_r43","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00792.2009"},{"key":"S2631717623000099_r19","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2020.2999739"},{"key":"S2631717623000099_r10","doi-asserted-by":"publisher","DOI":"10.1080\/00140139.2015.1081988"},{"key":"S2631717623000099_r32","doi-asserted-by":"publisher","DOI":"10.5772\/5667"},{"key":"S2631717623000099_r40","first-page":"146","volume-title":"Proceedings of the 7th International Conference of Control, Dynamic Systems, and Robotics. 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