{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T07:57:45Z","timestamp":1773907065418,"version":"3.50.1"},"reference-count":69,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,9,26]],"date-time":"2023-09-26T00:00:00Z","timestamp":1695686400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,9,26]],"date-time":"2023-09-26T00:00:00Z","timestamp":1695686400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["91648106"],"award-info":[{"award-number":["91648106"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Tianzhi Institute of Innovation and Technology","award":["TZ-ZZ- 202002"],"award-info":[{"award-number":["TZ-ZZ- 202002"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Modeling and motion extraction of human upper limbs are essential for interpreting the natural behavior of upper limb. Owing to the high degrees of freedom (DOF) and highly dynamic nature, existing upper limb modeling methods have limited applications. This study proposes a generic modeling and motion extraction method, named Primitive-Based triangular body segment method (P-BTBS), which follows the physiology of upper limbs, allows high accuracy of motion angles, and describes upper-limb motions with high accuracy. For utilizing the upper-limb modular motion model, the motion angles and bones can be selected as per the research topics (The generic nature of the study targets). Additionally, P-BTBS is suitable in most scenarios for estimating spatial coordinates (The generic nature of equipment and technology). Experiments in continuous motions with seven DOFs and upper-limb motion description validated the excellent performance and robustness of P-BTBS in extracting motion information and describing upper-limb motions, respectively. P-BTBS provides a new perspective and mathematical tool for human understanding and exploration of upper-limb motions, which theoretically supports upper-limb research.<\/jats:p>","DOI":"10.1038\/s41598-023-36767-0","type":"journal-article","created":{"date-parts":[[2023,9,26]],"date-time":"2023-09-26T11:03:05Z","timestamp":1695726185000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Upper limb modeling and motion extraction based on multi-space-fusion"],"prefix":"10.1038","volume":"13","author":[{"given":"Honggang","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junlong","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuo","family":"Pei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiajia","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yufeng","family":"Yao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,9,26]]},"reference":[{"issue":"60","key":"36767_CR1","doi-asserted-by":"crossref","first-page":"eabi8017","DOI":"10.1126\/scirobotics.abi8017","volume":"6","author":"PE Dupont","year":"2021","unstructured":"Dupont, P. E. et al. A decade retrospective of medical robotics research from 2010 to 2020. Sci. Robot. 6(60), eabi8017 (2021).","journal-title":"Sci. Robot."},{"key":"36767_CR2","unstructured":"World Health Organization. In: Disability and health. www.who.int\/news-room\/fact-sheets\/detail\/disability-and-health (2022)."},{"issue":"9","key":"36767_CR3","doi-asserted-by":"crossref","first-page":"2181","DOI":"10.1161\/01.STR.0000087172.16305.CD","volume":"34","author":"G Kwakkel","year":"2003","unstructured":"Kwakkel, G. et al. Probability of regaining dexterity in the flaccid upper limb: Impact of severity of paresis and time since onset in acute stroke. Stroke 34(9), 2181\u20132186 (2003).","journal-title":"Stroke"},{"issue":"1","key":"36767_CR4","doi-asserted-by":"crossref","first-page":"1879","DOI":"10.1038\/s41467-018-04286-6","volume":"9","author":"T Ebina","year":"2018","unstructured":"Ebina, T. et al. Two-photon imaging of neuronal activity in motor cortex of marmosets during upper-limb movement tasks. Nat. Commun. 9(1), 1879 (2018).","journal-title":"Nat. Commun."},{"issue":"1","key":"36767_CR5","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1038\/s41467-020-20703-1","volume":"12","author":"N Greiner","year":"2021","unstructured":"Greiner, N. et al. Recruitment of upper-limb motoneurons with epidural electrical stimulation of the cervical spinal cord. Nat. Commun. 12(1), 435 (2021).","journal-title":"Nat. Commun."},{"issue":"1","key":"36767_CR6","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1038\/s41393-018-0190-z","volume":"57","author":"J Kim","year":"2019","unstructured":"Kim, J. et al. Clinical efficacy of upper limb robotic therapy in people with tetraplegia: A pilot randomized controlled trial. Spinal Cord 57(1), 49\u201357 (2019).","journal-title":"Spinal Cord"},{"issue":"1","key":"36767_CR7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1111\/1467-8721.01210","volume":"12","author":"B Kolb","year":"2003","unstructured":"Kolb, B., Gibb, R. & Robinson, T. E. Brain plasticity and behavior. Curr. Dir. Psychol. Sci. 12(1), 1\u20135 (2003).","journal-title":"Curr. Dir. Psychol. Sci."},{"issue":"19","key":"36767_CR8","doi-asserted-by":"crossref","first-page":"6976","DOI":"10.3390\/app10196976","volume":"10","author":"HM Qassim","year":"2020","unstructured":"Qassim, H. M. & Wan Hasan, W. Z. A review on upper limb rehabilitation robots. Appl. Sci. 10(19), 6976 (2020).","journal-title":"Appl. Sci."},{"issue":"64","key":"36767_CR9","doi-asserted-by":"crossref","first-page":"eabo1966","DOI":"10.1126\/scirobotics.abo1966","volume":"7","author":"M Chiappalone","year":"2022","unstructured":"Chiappalone, M. & Semprini, M. Using robots to advance clinical translation in neurorehabilitation. Sci. Robot. 7(64), eabo1966 (2022).","journal-title":"Sci. Robot."},{"issue":"15","key":"36767_CR10","doi-asserted-by":"crossref","first-page":"1023","DOI":"10.1080\/01691864.2020.1749926","volume":"34","author":"A Gupta","year":"2020","unstructured":"Gupta, A., Singh, A., Verma, V., Mondal, A. K. & Gupta, M. K. Developments and clinical evaluations of robotic exoskeleton technology for human upper-limb rehabilitation. Adv. Robot. 34(15), 1023\u20131040 (2020).","journal-title":"Adv. Robot."},{"issue":"1","key":"36767_CR11","doi-asserted-by":"crossref","first-page":"16","DOI":"10.3390\/robotics9010016","volume":"9","author":"MA Gull","year":"2020","unstructured":"Gull, M. A., Bai, S. & Bak, T. A. Review on design of upper limb exoskeletons. Robotics 9(1), 16 (2020).","journal-title":"Robotics"},{"issue":"1","key":"36767_CR12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1038\/s41598-019-56847-4","volume":"10","author":"SH Lee","year":"2020","unstructured":"Lee, S. H. et al. Comparisons between end-effector and exoskeleton rehabilitation robots regarding upper extremity function among chronic stroke patients with moderate-to-severe upper limb impairment. Sci. Rep. 10(1), 1\u20138 (2020).","journal-title":"Sci. Rep."},{"key":"36767_CR13","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/1743-0003-11-1","volume":"11","author":"A Basteris","year":"2014","unstructured":"Basteris, A. & Nijenhuis, S. Training modalities in robot-mediated upper limb rehabilitation in stroke: A framework for classification based on a systematic review. J. Neuroeng. 11, 1\u201315 (2014).","journal-title":"J. Neuroeng."},{"issue":"9","key":"36767_CR14","first-page":"S174","volume":"10","author":"F Molteni","year":"2018","unstructured":"Molteni, F., Gasperini, G., Cannaviello, G. & Guanziroli, E. Exoskeleton and end-effector robots for upper and lower limbs rehabilitation: Narrative review. PMR 10(9), S174\u2013S188 (2018).","journal-title":"PMR"},{"issue":"6","key":"36767_CR15","doi-asserted-by":"crossref","first-page":"1591","DOI":"10.1093\/brain\/awr039","volume":"134","author":"SC Cramer","year":"2011","unstructured":"Cramer, S. C. et al. Harnessing neuroplasticity for clinical applications. Brain 134(6), 1591\u20131609 (2011).","journal-title":"Brain"},{"key":"36767_CR16","doi-asserted-by":"crossref","first-page":"415","DOI":"10.1016\/j.tins.2022.03.009","volume":"45","author":"T Marins","year":"2022","unstructured":"Marins, T. & Tovar-Moll, F. Using neurofeedback to induce and explore brain plasticity. Trends Neurosci. 45, 415\u2013416 (2022).","journal-title":"Trends Neurosci."},{"key":"36767_CR17","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1016\/j.cortex.2013.11.012","volume":"58","author":"B Kolb","year":"2014","unstructured":"Kolb, B. & Gibb, R. Searching for the principles of brain plasticity and behavior. Cortex 58, 251\u2013260 (2014).","journal-title":"Cortex"},{"issue":"1644","key":"36767_CR18","doi-asserted-by":"crossref","first-page":"20130185","DOI":"10.1098\/rstb.2013.0185","volume":"369","author":"G Buccino","year":"2014","unstructured":"Buccino, G. Action observation treatment: A novel tool in neurorehabilitation. Philos. Trans. R. Soc. Lond. B Biol. Sci. 369(1644), 20130185 (2014).","journal-title":"Philos. Trans. R. Soc. Lond. B Biol. Sci."},{"issue":"8","key":"36767_CR19","doi-asserted-by":"crossref","first-page":"1243","DOI":"10.1093\/cercor\/bhi007","volume":"15","author":"B Calvo-Merino","year":"2005","unstructured":"Calvo-Merino, B., Glaser, D. E., Grezes, J., Passingham, R. E. & Haggard, P. Action observation and acquired motor skills: An FMRI study with expert dancers. Cereb. Cortex 15(8), 1243\u20131249 (2005).","journal-title":"Cereb. Cortex"},{"key":"36767_CR20","doi-asserted-by":"publisher","DOI":"10.1002\/14651858.CD011887.pub3","author":"LRDM Borges","year":"2022","unstructured":"Borges, L. R. D. M. et al. Action observation for upper limb rehabilitation after stroke. Cochrane Database Syst. Rev. https:\/\/doi.org\/10.1002\/14651858.CD011887.pub3 (2022).","journal-title":"Cochrane Database Syst. Rev."},{"key":"36767_CR21","doi-asserted-by":"crossref","first-page":"288","DOI":"10.3389\/fneur.2019.00288","volume":"10","author":"Z Bai","year":"2019","unstructured":"Bai, Z., Zhang, J., Zhang, Z., Shu, T. & Niu, W. Comparison between movement-based and task-based mirror therapies on improving upper limb functions in patients with stroke: A pilot randomized controlled trial. Front. Neurol. 10, 288 (2019).","journal-title":"Front. Neurol."},{"key":"36767_CR22","doi-asserted-by":"crossref","first-page":"1821","DOI":"10.1007\/s40279-017-0716-0","volume":"47","author":"JH Migueles","year":"2017","unstructured":"Migueles, J. H. et al. Accelerometer data collection and processing criteria to assess physical activity and other outcomes: A systematic review and practical considerations. Sports Med. 47, 1821\u20131845 (2017).","journal-title":"Sports Med."},{"key":"36767_CR23","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1016\/j.procir.2018.03.198","volume":"72","author":"M Bortolini","year":"2018","unstructured":"Bortolini, M., Gamberi, M., Pilati, F. & Regattieri, A. Automatic assessment of the ergonomic risk for manual manufacturing and assembly activities through optical motion capture technology. Procedia CIRP 72, 81\u201386 (2018).","journal-title":"Procedia CIRP"},{"issue":"2","key":"36767_CR24","doi-asserted-by":"crossref","first-page":"413","DOI":"10.3390\/s21020413","volume":"21","author":"M Tolgyessy","year":"2021","unstructured":"Tolgyessy, M., Dekan, M., Chovanec, L. & Hubinsky, P. Evaluation of the azure kinect and its comparison to kinect V1 and kinect V2. Sensors 21(2), 413 (2021).","journal-title":"Sensors"},{"key":"36767_CR25","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.future.2021.04.003","volume":"122","author":"B \u00c7ubuk\u00e7u","year":"2021","unstructured":"\u00c7ubuk\u00e7u, B., Y\u00fczge\u00e7, U., Z\u0131\u0307lel\u0131\u0307, A. & Z\u0131\u0307lel\u0131\u0307, R. Kinect-based integrated physiotherapy mentor application for shoulder damage. Fut. Gener. Comput. Syst. 122, 105\u2013116 (2021).","journal-title":"Fut. Gener. Comput. Syst."},{"key":"36767_CR26","doi-asserted-by":"crossref","unstructured":"Zhao, K. et al. Upper extremity kinematic parameters: reference ranges based on kinect V2. In: 2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), IEEE, 30\u201335 (2021).","DOI":"10.1109\/M2VIP49856.2021.9665061"},{"key":"36767_CR27","doi-asserted-by":"crossref","unstructured":"Sinha, S., Bhowmick, B., Chakravarty, K., Sinha, A. & Das A. Accurate upper body rehabilitation system using kinect. In: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), IEEE, 4605\u20134609 (2016).","DOI":"10.1109\/EMBC.2016.7591753"},{"key":"36767_CR28","doi-asserted-by":"crossref","first-page":"17292","DOI":"10.1109\/ACCESS.2018.2811720","volume":"6","author":"JSDC Neto","year":"2018","unstructured":"Neto, J. S. D. C. et al. Dynamic evaluation and treatment of the movement amplitude using kinect sensor. IEEE Access. 6, 17292\u201317305 (2018).","journal-title":"IEEE Access."},{"issue":"5","key":"36767_CR29","doi-asserted-by":"crossref","first-page":"915","DOI":"10.5505\/pajes.2017.65707","volume":"24","author":"\u0130 K\u00f6sesoy","year":"2018","unstructured":"K\u00f6sesoy, \u0130, \u00d6z, C., Aslan, F., K\u00f6ro\u011flu, F. & Y\u0131\u011f\u0131l\u0131ta\u015f, M. Reliability and validity of an innovative method of ROM measurement using Microsoft Kinect V2. Pamukkale Univ. J. Eng. Sci. 24(5), 915\u2013920 (2018).","journal-title":"Pamukkale Univ. J. Eng. Sci."},{"issue":"6","key":"36767_CR30","doi-asserted-by":"crossref","first-page":"e0129398","DOI":"10.1371\/journal.pone.0129398","volume":"10","author":"SH Lee","year":"2015","unstructured":"Lee, S. H. et al. Measurement of shoulder range of motion in patients with adhesive capsulitis using a kinect. PLoS ONE 10(6), e0129398 (2015).","journal-title":"PLoS ONE"},{"key":"36767_CR31","doi-asserted-by":"publisher","DOI":"10.1155\/2016\/7921295","author":"I Ben Abdallah","year":"2016","unstructured":"Ben Abdallah, I., Bouteraa, Y. & Rekik, C. Kinect-based sliding mode control for lynxmotion robotic arm. Adv. Hum.-Comput. Interact. https:\/\/doi.org\/10.1155\/2016\/7921295 (2016).","journal-title":"Adv. Hum.-Comput. Interact."},{"issue":"2","key":"36767_CR32","doi-asserted-by":"crossref","first-page":"65","DOI":"10.5772\/62415","volume":"13","author":"S Moon","year":"2016","unstructured":"Moon, S., Park, Y., Ko, D. W. & Suh, I. H. Multiple kinect sensor fusion for human skeleton tracking using kalman filtering. Int. J. Adv. Robot. Syst. 13(2), 65 (2016).","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"3","key":"36767_CR33","first-page":"401","volume":"5","author":"F Rashid","year":"2017","unstructured":"Rashid, F., Suriani, N. S., Nazari, A. & Science, C. Kinect-based physiotherapy and assessment: A comprehensive review. Indones. J. Electr. Eng. Comput. Sci. 5(3), 401\u2013408 (2017).","journal-title":"Indones. J. Electr. Eng. Comput. Sci."},{"key":"36767_CR34","doi-asserted-by":"crossref","first-page":"4317","DOI":"10.1007\/s00542-018-3769-6","volume":"24","author":"Y-C Du","year":"2018","unstructured":"Du, Y.-C., Shih, C.-B., Fan, S.-C., Lin, H.-T. & Chen, P.-J. An IMU-compensated skeletal tracking system using kinect for the upper limb. Microsyst. Technol. 24, 4317\u20134327 (2018).","journal-title":"Microsyst. Technol."},{"issue":"2","key":"36767_CR35","doi-asserted-by":"crossref","first-page":"10","DOI":"10.4038\/icter.v9i2.7180","volume":"9","author":"MP Wijayapala","year":"2016","unstructured":"Wijayapala, M. P., Premaratne, H. L. & Jayamanne, I. T. Motion tracking by sensors for real-time human skeleton animation. Int. J. Adv. ICT Emerg. Reg. (ICTer) 9(2), 10\u201321 (2016).","journal-title":"Int. J. Adv. ICT Emerg. Reg. (ICTer)"},{"issue":"1","key":"36767_CR36","doi-asserted-by":"crossref","first-page":"5615","DOI":"10.1038\/s41467-020-19424-2","volume":"11","author":"S Liu","year":"2020","unstructured":"Liu, S., Zhang, J., Zhang, Y. & Zhu, R. A wearable motion capture device able to detect dynamic motion of human limbs. Nat. Commun. 11(1), 5615 (2020).","journal-title":"Nat. Commun."},{"issue":"4","key":"36767_CR37","first-page":"143","volume":"40","author":"M Milazzo","year":"2021","unstructured":"Milazzo, M. et al. AUTOMA: A wearable device to assess the upper limb muscular activity in patients with neuromuscular disorders. Acta Myol. 40(4), 143\u2013151 (2021).","journal-title":"Acta Myol."},{"key":"36767_CR38","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40798-018-0167-7","volume":"4","author":"CP Walmsley","year":"2018","unstructured":"Walmsley, C. P. et al. Measurement of upper limb range of motion using wearable sensors: A systematic review. Sports Med. Open 4, 1\u201322 (2018).","journal-title":"Sports Med. Open"},{"key":"36767_CR39","unstructured":"Nef, T. & Riener, R. ARMin - Design of a novel arm rehabilitation robot. In: 9th International Conference on Rehabilitation Robotics, IEEE, 57\u201360 (2005)."},{"key":"36767_CR40","doi-asserted-by":"crossref","unstructured":"Mihelj, M., Nef, T. & Riener, R. ARMin II-7 DoF rehabilitation robot: Mechanics and kinematics. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, IEEE, 4120\u20134125 (2007).","DOI":"10.1109\/ROBOT.2007.364112"},{"issue":"2","key":"36767_CR41","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1155\/2009\/962956","volume":"6","author":"T Nef","year":"2009","unstructured":"Nef, T., Guidali, M. & Riener, R. ARMin III\u2014Arm therapy exoskeleton with an ergonomic shoulder actuation. Appl. Bionics Biomech. 6(2), 127\u2013142 (2009).","journal-title":"Appl. Bionics Biomech."},{"key":"36767_CR42","doi-asserted-by":"crossref","first-page":"916","DOI":"10.1109\/TNSRE.2021.3074101","volume":"29","author":"AC De Oliveira","year":"2021","unstructured":"De Oliveira, A. C., Sulzer, J. S. & Deshpande, A. D. Assessment of upper-extremity joint angles using harmony exoskeleton. IEEE Trans. Neural Syst. Rehabil. Eng. 29, 916\u2013925 (2021).","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"issue":"2","key":"36767_CR43","doi-asserted-by":"crossref","first-page":"1880","DOI":"10.1109\/LRA.2021.3138326","volume":"7","author":"A Zeiaee","year":"2022","unstructured":"Zeiaee, A., Zarrin, R. S., Eib, A., Langari, R. & Tafreshi, R. CLEVERarm: A lightweight and compact exoskeleton for upper-limb rehabilitation. IEEE Robot. Autom. Lett. 7(2), 1880\u20131887 (2022).","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"36767_CR44","doi-asserted-by":"crossref","first-page":"1460","DOI":"10.1109\/TRO.2021.3125854","volume":"38","author":"D Park","year":"2021","unstructured":"Park, D. et al. WINDER:Shoulder-sidewinder (shoulder-side wearable industrial ergonomic robot): Design and evaluation of shoulder wearable robot with mechanisms to compensate for joint misalignment. IEEE Trans. Robot. 38(3), 1460\u20131471 (2021).","journal-title":"IEEE Trans. Robot."},{"key":"36767_CR45","doi-asserted-by":"crossref","first-page":"2201","DOI":"10.1109\/TMECH.2016.2559799","volume":"21","author":"U Keller","year":"2016","unstructured":"Keller, U., van Hedel, H. J. A., Klamroth-Marganska, V. & Riener, R. ChARMin: The first actuated exoskeleton robot for pediatric arm rehabilitation. IEEE\/ASME Trans. Mechatron. 21, 2201\u20132213 (2016).","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"1","key":"36767_CR46","doi-asserted-by":"crossref","first-page":"012094","DOI":"10.1088\/1757-899X\/572\/1\/012094","volume":"572","author":"MN Risteiu","year":"2019","unstructured":"Risteiu, M. N., Rosca, S. D. & Leba, M. 3D modelling and simulation of human upper limb. IOP Conf. Ser. 572(1), 012094 (2019).","journal-title":"IOP Conf. Ser."},{"key":"36767_CR47","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1109\/TMRB.2021.3050512","volume":"3","author":"C Rossa","year":"2021","unstructured":"Rossa, C., Najafi, M., Tavakoli, M. & Adams, K. Robotic rehabilitation and assistance for individuals with movement disorders based on a kinematic model of the upper limb. IEEE Trans. Med. Robot. Bionics 3, 190\u2013203 (2021).","journal-title":"IEEE Trans. Med. Robot. Bionics"},{"key":"36767_CR48","first-page":"4469","volume-title":"2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)","author":"R Krishnan","year":"2016","unstructured":"Krishnan, R., Bjrsell, N. & Smith, C. Invariant spatial parametrization of human thoracohumeral kinematics: A feasibility study. In 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (eds Krishnan, R. et al.) 4469\u20134476 (IEEE, 2016)."},{"key":"36767_CR49","doi-asserted-by":"crossref","first-page":"e0141028","DOI":"10.1371\/journal.pone.0141028","volume":"11","author":"A Seth","year":"2016","unstructured":"Seth, A., Matias, R., Veloso, A. P. & Delp, S. L. A biomechanical model of the scapulothoracic joint to accurately capture scapular kinematics during shoulder movements. PLoS ONE 11, e0141028 (2016).","journal-title":"PLoS ONE"},{"key":"36767_CR50","doi-asserted-by":"crossref","first-page":"90","DOI":"10.3389\/fnbot.2019.00090","volume":"13","author":"A Seth","year":"2019","unstructured":"Seth, A., Dong, M., Matias, R. & Delp, S. Muscle contributions to upper-extremity movement and work from a musculoskeletal model of the human shoulder. Front. Neurorobot. 13, 90 (2019).","journal-title":"Front. Neurorobot."},{"key":"36767_CR51","doi-asserted-by":"crossref","first-page":"1445","DOI":"10.1080\/10255842.2014.916698","volume":"18","author":"KR Saul","year":"2015","unstructured":"Saul, K. R. et al. Benchmarking of dynamic simulation predictions in two software platforms using an upper limb musculoskeletal model. Comput. Methods Biomech. Biomed. Eng. 18, 1445\u20131458 (2015).","journal-title":"Comput. Methods Biomech. Biomed. Eng."},{"key":"36767_CR52","doi-asserted-by":"crossref","first-page":"3273","DOI":"10.1109\/LRA.2022.3144519","volume":"7","author":"R Nasiri","year":"2022","unstructured":"Nasiri, R., Aftabi, H. & Ahmadabadi, M. N. Human-in-the-loop weight compensation in upper limb wearable robots towards total muscles\u2019 effort minimization. IEEE Robot. Autom. Lett. 7, 3273\u20133278 (2022).","journal-title":"IEEE Robot. Autom. Lett."},{"key":"36767_CR53","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-021-06785-y","author":"W Xiao","year":"2022","unstructured":"Xiao, W. et al. AI-driven rehabilitation and assistive robotic system with intelligent PID controller based on RBF neural networks. Neural Comput. Appl. https:\/\/doi.org\/10.1007\/s00521-021-06785-y (2022).","journal-title":"Neural Comput. Appl."},{"key":"36767_CR54","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1159\/000522413","volume":"85","author":"ABG Santiago","year":"2022","unstructured":"Santiago, A. B. G., C\u00e1ceres, C. M. M. & Hern\u00e1ndez-Morante, J. J. Effectiveness of intensively applied mirror therapy in older patients with post-stroke hemiplegia: A preliminary trial. Eur. Neurol. 85, 291\u2013299 (2022).","journal-title":"Eur. Neurol."},{"key":"36767_CR55","first-page":"6621950","volume":"2021","author":"B Pan","year":"2021","unstructured":"Pan, B. et al. Motor function assessment of upper limb in stroke patients. J. Healthcare Eng. 2021, 6621950 (2021).","journal-title":"J. Healthcare Eng."},{"key":"36767_CR56","doi-asserted-by":"crossref","first-page":"S255","DOI":"10.1097\/PHM.0b013e31826bcdc1","volume":"91","author":"S Balasubramanian","year":"2012","unstructured":"Balasubramanian, S., Colombo, R., Sterpi, I., Sanguineti, V. & Burdet, E. Robotic assessment of upper limb motor function after stroke. Am. J. Phys. Med. Rehabil. 91, S255-269 (2012).","journal-title":"Am. J. Phys. Med. Rehabil."},{"key":"36767_CR57","doi-asserted-by":"crossref","first-page":"396","DOI":"10.1016\/j.eswa.2018.09.026","volume":"116","author":"AEF Da Gama","year":"2019","unstructured":"Da Gama, A. E. F., Chaves, Td. M., Fallavollita, P., Figueiredo, L. S. & Teichrieb, V. Rehabilitation motion recognition based on the international biomechanical standards. Expert Syst. Appl. 116, 396\u2013409 (2019).","journal-title":"Expert Syst. Appl."},{"key":"36767_CR58","doi-asserted-by":"crossref","first-page":"370","DOI":"10.1038\/nchem.2238","volume":"7","author":"SL Tait","year":"2015","unstructured":"Tait, S. L. Surface chemistry: Self-assembling Sierpinski triangles. Nat. Chem. 7, 370\u2013371 (2015).","journal-title":"Nat. Chem."},{"key":"36767_CR59","doi-asserted-by":"crossref","first-page":"981","DOI":"10.1016\/j.jbiomech.2004.05.042","volume":"38","author":"G Wu","year":"2005","unstructured":"Wu, G. et al. ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion\u2013Part II: Shoulder, elbow, wrist and hand. J. Biomech. 38, 981\u2013992 (2005).","journal-title":"J. Biomech."},{"key":"36767_CR60","first-page":"4912","volume":"2021","author":"AJ Schnorenberg","year":"2021","unstructured":"Schnorenberg, A. J. & Slavens, B. A. Effect of rotation sequence on thoracohumeral joint kinematics during various shoulder postures. Annu. Int. Conf. IEEE Eng. Med. Biol. Soc. 2021, 4912\u20134915 (2021).","journal-title":"Annu. Int. Conf. IEEE Eng. Med. Biol. Soc."},{"key":"36767_CR61","doi-asserted-by":"crossref","first-page":"1205","DOI":"10.1016\/j.bbe.2020.04.008","volume":"40","author":"JAB Madrigal","year":"2020","unstructured":"Madrigal, J. A. B., Negrete, J. C., Guerrero, R. M., Rodr\u00edguez, L. A. C. & Sossa, H. 3D motion tracking of the shoulder joint with respect to the thorax using MARG sensors and data fusion algorithm. Biocybern. Biomed. Eng. 40, 1205\u20131224 (2020).","journal-title":"Biocybern. Biomed. Eng."},{"issue":"5","key":"36767_CR62","doi-asserted-by":"crossref","first-page":"1060","DOI":"10.1109\/THMS.2021.3128892","volume":"52","author":"C Latella","year":"2021","unstructured":"Latella, C. et al. Analysis of human whole-body joint torques during overhead work with a passive exoskeleton. IEEE Trans. Hum.-Mach. Syst. 52(5), 1060\u20131068 (2021).","journal-title":"IEEE Trans. Hum.-Mach. Syst."},{"key":"36767_CR63","doi-asserted-by":"crossref","first-page":"1669","DOI":"10.1109\/TNSRE.2021.3105388","volume":"29","author":"M Puchinger","year":"2021","unstructured":"Puchinger, M., Stefanek, P., Gstaltner, K., Pandy, M. G. & Gfohler, M. In vivo biomechanical assessment of a novel handle-based wheelchair drive. IEEE Trans. Neural Syst. Rehabil. Eng. 29, 1669\u20131678 (2021).","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"36767_CR64","doi-asserted-by":"crossref","first-page":"121","DOI":"10.1080\/14763141.2019.1640277","volume":"21","author":"T Du","year":"2022","unstructured":"Du, T. & Yanai, T. Critical scapula motions for preventing subacromial impingement in fully-tethered front-crawl swimming. Sports Biomech. 21, 121\u2013141 (2022).","journal-title":"Sports Biomech."},{"key":"36767_CR65","doi-asserted-by":"crossref","first-page":"e122","DOI":"10.2106\/JBJS.M.01031","volume":"96","author":"U Srikumaran","year":"2014","unstructured":"Srikumaran, U. et al. Scapular winging: A great masquerader of shoulder disorders: AAOS exhibit selection. JBJS 96, e122 (2014).","journal-title":"JBJS"},{"key":"36767_CR66","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1016\/B978-0-12-812162-7.00011-4","volume-title":"Comparative Kinesiology of the Human Body","author":"SS Ye\u015filyaprak","year":"2020","unstructured":"Ye\u015filyaprak, S. S. Upper extremity. In Comparative Kinesiology of the Human Body (ed. Ye\u015filyaprak, S. S.) 157\u2013282 (Elsevier, 2020)."},{"key":"36767_CR67","doi-asserted-by":"crossref","first-page":"949","DOI":"10.1152\/japplphysiol.00078.2021","volume":"131","author":"LA Ingram","year":"2021","unstructured":"Ingram, L. A., Butler, A. A., Brodie, M. A., Lord, S. R. & Gandevia, S. C. Quantifying upper limb motor impairment in chronic stroke: A physiological profiling approach. J. Appl. Physiol. 131, 949\u2013965 (2021).","journal-title":"J. Appl. Physiol."},{"key":"36767_CR68","doi-asserted-by":"crossref","first-page":"4345","DOI":"10.1038\/s41598-022-08133-z","volume":"12","author":"J Yu","year":"2022","unstructured":"Yu, J., Qin, M. & Zhou, S. Dynamic gesture recognition based on 2D convolutional neural network and feature fusion. Sci. Rep. 12, 4345 (2022).","journal-title":"Sci. Rep."},{"key":"36767_CR69","doi-asserted-by":"crossref","first-page":"1551","DOI":"10.1038\/s41467-020-15086-2","volume":"11","author":"N Golestani","year":"2020","unstructured":"Golestani, N. & Moghaddam, M. Human activity recognition using magnetic induction-based motion signals and deep recurrent neural networks. Nat. Commun. 11, 1551 (2020).","journal-title":"Nat. Commun."}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-023-36767-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-023-36767-0","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-023-36767-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,19]],"date-time":"2023-11-19T02:13:15Z","timestamp":1700359995000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-023-36767-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9,26]]},"references-count":69,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2023,12]]}},"alternative-id":["36767"],"URL":"https:\/\/doi.org\/10.1038\/s41598-023-36767-0","relation":{},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9,26]]},"assertion":[{"value":"14 November 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 June 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 September 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"16101"}}