{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,16]],"date-time":"2026-09-16T00:02:00Z","timestamp":1789516920439,"version":"build-2803163510"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","license":[{"start":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T00:00:00Z","timestamp":1750118400000},"content-version":"unspecified","delay-in-days":167,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/4.0"}],"content-domain":{"domain":["cambridge.org"],"crossmark-restriction":true},"short-container-title":["Wearable Technol."],"published-print":{"date-parts":[[2025]]},"abstract":"<jats:title>Abstract<\/jats:title>\n\t  <jats:p>The human need for rehabilitation, assistance, and augmentation has led to the development and use of wearable exoskeletons. Upper limb exoskeletons under research and development are tested on human volunteers to gauge performance and usability. Direct testing can often cause straining of the joints, especially the shoulder joint, which is the most important and flexible joint in the upper extremity of the human body. The misalignment of joint axes between the exoskeleton and the human body causes straining. To avoid this, we propose designing and developing a novel human shoulder phantom mimicking the shoulder complex motion and the humeral head translation that can help in the real-time testing of exoskeletons without the need for human volunteers. The device can be used to test the interaction forces and the maximum reachable position of the exoskeleton. It consists of three degrees of freedom (DOF) passive shoulder girdle mechanism and seven DOF glenohumeral joint mechanisms, of which six are passive revolute joints and one is an active prismatic joint mimicking the humeral head translation. All the passive joints are spring-loaded and are incorporated with joint angle sensors. A custom-made, three-axis force sensor measures the human\u2013exoskeleton interaction forces. The design details, selection of joint springs, linear actuation mechanism, and the analysis of the phantom\u2019s reachable workspace are presented. The device is validated by comparing the interaction forces produced during the conventional exoskeleton-assisted and human-assisted phantom arm elevation.<\/jats:p>","DOI":"10.1017\/wtc.2025.10006","type":"journal-article","created":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T13:50:14Z","timestamp":1750168214000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":4,"title":["Design, development, and evaluation of a novel shoulder phantom testbed for analyzing interaction forces and reachability of wearable exoskeletons"],"prefix":"10.1017","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9369-458X","authenticated-orcid":false,"given":"Avinash S.","family":"Pramod","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adithya","family":"R N","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Santhakumar","family":"Mohan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Asokan","family":"Thondiyath","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2025,6,17]]},"reference":[{"key":"S2631717625100066_r28","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2024.105746"},{"key":"S2631717625100066_r12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056376"},{"key":"S2631717625100066_r25","first-page":"1","volume-title":"2024 Second International Conference on Emerging Trends in Information Technology and Engineering (ICETITE)","author":"Pramod","year":"2024c"},{"key":"S2631717625100066_r6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104637"},{"key":"S2631717625100066_r20","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(11)60107-8"},{"key":"S2631717625100066_r9","first-page":"S68","article-title":"Glenohumeral anatomic study: A comparison of male and female shoulders with similar average age and BMI","volume":"73","author":"Jacobson","year":"2015","journal-title":"Bulletin of the NYU Hospital for Joint Diseases"},{"key":"S2631717625100066_r27","unstructured":"Pramod, A S , Thondiyath, A and Mohan, S (2024e) Wearable shoulder exoskeleton. Intellectual Property India, Patent Application No. 202441041439."},{"key":"S2631717625100066_r10","first-page":"e6652","article-title":"Determination of gender from various measurements of the humerus","volume":"12","author":"Khan","year":"2020","journal-title":"Cureus"},{"key":"S2631717625100066_r23","first-page":"1441","article-title":"A modified human shoulder model considering the migration of the humeral head from the scapular glenoid fossa for the design of shoulder exoskeletons","volume":"239","author":"Pramod","year":"2024a","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"key":"S2631717625100066_r26","doi-asserted-by":"publisher","DOI":"10.1109\/CBS61689.2024.10860358"},{"key":"S2631717625100066_r24","unstructured":"Pramod, AS , Thondiyath, A and Mohan, S (2024b) Biomimetic human shoulder phantom mechanism for testing wearable exoskeleton. Intellectual Property India (IPI), Patent Grant, 557685."},{"key":"S2631717625100066_r4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4011045"},{"key":"S2631717625100066_r21","doi-asserted-by":"publisher","DOI":"10.1016\/j.engfailanal.2019.02.017"},{"key":"S2631717625100066_r17","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-023-02974-0"},{"key":"S2631717625100066_r13","article-title":"Robotic tensegrity structure with a mechanism mimicking human shoulder motion","volume":"14","author":"Li","year":"2022","journal-title":"ASME Journal of Mechanisms and Robotics"},{"key":"S2631717625100066_r29","doi-asserted-by":"publisher","DOI":"10.1186\/s12891-023-06127-0"},{"key":"S2631717625100066_r18","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363427"},{"key":"S2631717625100066_r2","doi-asserted-by":"publisher","DOI":"10.1017\/wtc.2024.1"},{"key":"S2631717625100066_r1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2013.7030004"},{"key":"S2631717625100066_r19","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR53236.2021.9659411"},{"key":"S2631717625100066_r16","doi-asserted-by":"publisher","DOI":"10.1017\/wtc.2023.9"},{"key":"S2631717625100066_r30","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105150"},{"key":"S2631717625100066_r5","doi-asserted-by":"publisher","DOI":"10.1017\/wtc.2023.1"},{"key":"S2631717625100066_r11","doi-asserted-by":"publisher","DOI":"10.1038\/s41528-024-00297-0"},{"key":"S2631717625100066_r22","doi-asserted-by":"publisher","DOI":"10.1109\/OJCS.2024.3465661"},{"key":"S2631717625100066_r7","doi-asserted-by":"publisher","DOI":"10.5115\/acb.20.031"},{"key":"S2631717625100066_r8","doi-asserted-by":"publisher","DOI":"10.1186\/s12883-024-03651-x"},{"key":"S2631717625100066_r15","doi-asserted-by":"publisher","DOI":"10.1038\/s44172-022-00004-9"},{"key":"S2631717625100066_r14","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00065"},{"key":"S2631717625100066_r3","doi-asserted-by":"publisher","DOI":"10.1017\/wtc.2022.28"}],"container-title":["Wearable Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S2631717625100066","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T13:50:16Z","timestamp":1750168216000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S2631717625100066\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":30,"alternative-id":["S2631717625100066"],"URL":"https:\/\/doi.org\/10.1017\/wtc.2025.10006","relation":{},"ISSN":["2631-7176"],"issn-type":[{"value":"2631-7176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"\u00a9 The Author(s), 2025. Published by Cambridge University Press","name":"copyright","label":"Copyright","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This is an Open Access article, distributed under the terms of the Creative Commons Attribution-NonCommercial licence (http:\/\/creativecommons.org\/licenses\/by-nc\/4.0), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original article is properly cited. The written permission of Cambridge University Press must be obtained prior to any commercial use.","name":"license","label":"License","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This content has been made available to all.","name":"free","label":"Free to read"}],"article-number":"e24"}}