{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T11:56:18Z","timestamp":1785412578446,"version":"3.56.0"},"reference-count":55,"publisher":"Cambridge University Press (CUP)","license":[{"start":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T00:00:00Z","timestamp":1781136000000},"content-version":"unspecified","delay-in-days":161,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["23H00485, 24KJ0471"],"award-info":[{"award-number":["23H00485, 24KJ0471"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["cambridge.org"],"crossmark-restriction":true},"short-container-title":["Wearable Technol."],"published-print":{"date-parts":[[2026]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>We propose a wearable soft robot that assists with individualized scapula adduction and abduction for thoracic stretching in respiratory rehabilitation. Although thoracic stretching is known to be effective for respiratory rehabilitation, the range of motion of older adult patients narrows with age, and long-term external aid by physical therapists is required. The proposed robot consists of a soft and shoulder-wearable brace and cable-pulling mechanism to apply rotational torque on shoulders, resulting in stretching the thorax and scapulae. We designed the pulling mechanism by modeling the humeral head trajectory during stretching by a therapist and reproducing it with two linear actuators pulling the right and left shoulders simultaneously, based on position control aimed at achieving a target tension. The main results of validation experiments with older adults confirmed that the robot-assisted stretching was able to perform scapular stretching similar to that of a physical therapist.<\/jats:p>","DOI":"10.1017\/wtc.2026.10044","type":"journal-article","created":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T07:39:58Z","timestamp":1781163598000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":0,"title":["Shoulder-wearable soft robot for assisting older adults in scapular stretching"],"prefix":"10.1017","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-1903-5186","authenticated-orcid":false,"given":"Kosuke","family":"Isobe","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02956yf07","id-type":"ROR","asserted-by":"publisher"}],"name":"University of Tsukuba"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Masakazu","family":"Hirokawa","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/04jndar25","id-type":"ROR","asserted-by":"publisher"}],"name":"NEC Corporation"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yasuhiro","family":"Suzuki","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02956yf07","id-type":"ROR","asserted-by":"publisher"}],"name":"University of Tsukuba"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hideki","family":"Kadone","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02956yf07","id-type":"ROR","asserted-by":"publisher"}],"name":"University of Tsukuba"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yukiyo","family":"Shimizu","sequence":"additional","affiliation":[{"name":"University of Tsukuba Institute of Medicine"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kenji","family":"Suzuki","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/02956yf07","id-type":"ROR","asserted-by":"publisher"}],"name":"University of Tsukuba"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,6,11]]},"reference":[{"key":"S2631717626100449_r23","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2018.8487907"},{"key":"S2631717626100449_r50","doi-asserted-by":"publisher","DOI":"10.2147\/COPD.S107408"},{"key":"S2631717626100449_r51","doi-asserted-by":"publisher","DOI":"10.1177\/1357633X15625545"},{"key":"S2631717626100449_r44","volume-title":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","author":"Tasaka","year":"2019"},{"key":"S2631717626100449_r53","doi-asserted-by":"publisher","DOI":"10.1115\/1.4068019"},{"key":"S2631717626100449_r22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917706743"},{"key":"S2631717626100449_r43","unstructured":"Stanford Artificial Intelligence Laboratory (2020) Robotic Operating System ver ROS Noetic Ninjemys."},{"key":"S2631717626100449_r26","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-018-0410-y"},{"key":"S2631717626100449_r17","first-page":"245","volume-title":"In Mosby\u2019s Field Guide to Occupational Therapy for Physical Dysfunction","year":"2013"},{"key":"S2631717626100449_r24","doi-asserted-by":"publisher","DOI":"10.1016\/S1058-2746(97)70049-1"},{"key":"S2631717626100449_r37","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2010.5675459"},{"key":"S2631717626100449_r19","first-page":"87","article-title":"Exoskeletons for elderly activity of daily living assistance","volume":"16","author":"Jalal","year":"2024","journal-title":"A Review of Upper Limb Exoskeletons and Assessments. en. ijie"},{"key":"S2631717626100449_r2","doi-asserted-by":"publisher","DOI":"10.1067\/mse.2001.115270"},{"key":"S2631717626100449_r55","doi-asserted-by":"publisher","DOI":"10.1115\/1.4067305"},{"key":"S2631717626100449_r42","unstructured":"Kinex Medical Company (2018). 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