{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T19:50:52Z","timestamp":1792785052768,"version":"4.5.0"},"reference-count":68,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T00:00:00Z","timestamp":1784332800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2026,10,20]],"date-time":"2026-10-20T00:00:00Z","timestamp":1792454400000},"content-version":"vor","delay-in-days":94,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"NTNU Norwegian University of Science and Technology","id":[{"id":"https:\/\/ror.org\/05xg72x27","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    Upper limb exoskeletons have emerged as a significant rehabilitation tool for the elderly, injured, and individuals with disabilities. Traditionally, these devices require the constant presence of a medical practitioner and are typically confined to fixed environments such as hospitals or clinics, often mounted on a setup or wheelchair. They are often bulky, expensive, and difficult to assemble. This paper presents a novel design for an upper limb exoskeleton that overcomes these limitations by being exceptionally lightweight, portable, and easy to assemble and manufacture. The exoskeleton facilitates 6 degrees of freedom (DOF) motion, encompassing shoulder, elbow, and wrist movements with partial assistance to the joints. It does not require fixation to a particular location, making it adaptable for use with both left and right upper limbs. Additionally, the paper discusses the kinematic analysis, dynamic simulation using MATLAB, control strategies, and the practical implementation of the physical system.\n                    <jats:bold>Note to Practitioners:<\/jats:bold>\n                    This work presents a lightweight and portable upper limb exoskeleton design intended for practical rehabilitation applications. The proposed system emphasizes ease of assembly, reduced system complexity, and suitability for home-based or assistive environments. The design framework can assist practitioners and developers in building cost-effective and adaptable rehabilitation devices, particularly for scenarios where portability and simplicity are critical. Amputee, Rehabilitation, Upper Limb Exoskeleton, Fused Deposition Modelling, Additive Manufacturing, Unified Robotics Description Format, Inverse Kinematics, Trajectory Planning, Way-point Tracking, Proportional-Integral-Derivative Control, Embedded System.\n                  <\/jats:p>","DOI":"10.1038\/s41598-026-61368-y","type":"journal-article","created":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T14:35:10Z","timestamp":1784385310000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Act-Exo-Rehab: an adaptive active exoskeleton for upper limb rehabilitation in real-time environments"],"prefix":"10.1038","volume":"16","author":[{"given":"Shyam Sundar","family":"Mallampalli","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sachin","family":"Kansal","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pauline","family":"Pounds","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kamran","family":"Shaukat","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7228-0046","authenticated-orcid":false,"given":"Talha Mahboob","family":"Alam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,7,18]]},"reference":[{"key":"61368_CR1","unstructured":"Kansal, Sachin. et al. Evolution of the Exoskeleton (2016)."},{"issue":"19","key":"61368_CR2","doi-asserted-by":"publisher","first-page":"6976","DOI":"10.3390\/app10196976","volume":"10","author":"HM Qassim","year":"2020","unstructured":"Qassim, H. M. & Hasan, W. Z. W. A review on upper limb rehabilitation robots. Applied Sciences 10(19), 6976 (2020).","journal-title":"Applied Sciences"},{"issue":"3","key":"61368_CR3","doi-asserted-by":"publisher","first-page":"883","DOI":"10.1007\/s11517-023-02974-0","volume":"62","author":"Yuansheng Ning","year":"2024","unstructured":"Ning, Yuansheng et al. Design and analysis of a compatible exoskeleton rehabilitation robot system based on upper limb movement mechanism. Medical & Biological Engineering & Computing 62(3), 883\u2013899 (2024).","journal-title":"Medical & Biological Engineering & Computing"},{"key":"61368_CR4","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-17","author":"DP Ferris","year":"2009","unstructured":"Ferris, D. P. The exoskeletons are here. J. Neuroeng. Rehabil. https:\/\/doi.org\/10.1186\/1743-0003-6-17 (2009).","journal-title":"J. Neuroeng. Rehabil."},{"key":"61368_CR5","doi-asserted-by":"publisher","first-page":"103012","DOI":"10.1016\/j.rcim.2025.103012","volume":"95","author":"Bohan Feng","year":"2025","unstructured":"Feng, Bohan et al. Towards safe motion planning for industrial human-robot interaction: A co-evolution approach based on human digital twin and mixed reality. Robotics and Computer-Integrated Manufacturing 95, 103012 (2025).","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"61368_CR6","doi-asserted-by":"publisher","DOI":"10.1016\/j.apergo.2023.103965","volume":"109","author":"Y-K Kong","year":"2023","unstructured":"Kong, Y.-K. et al. Efficacy of passive upper-limb exoskeletons in reducing musculoskeletal load associated with overhead tasks. Appl. Ergon. 109, 103965 (2023).","journal-title":"Appl. Ergon."},{"key":"61368_CR7","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2025.3585055","author":"B Wang","year":"2025","unstructured":"Wang, B. et al. Optimal event-triggered neural learning tracking control for pneumatic muscle antagonistic joint with asymmetric constraints. IEEE Trans. Ind. Electron. https:\/\/doi.org\/10.1109\/TIE.2025.3585055 (2025).","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"1","key":"61368_CR8","doi-asserted-by":"publisher","first-page":"16","DOI":"10.3390\/robotics9010016","volume":"9","author":"Muhammad Ahsan Gull","year":"2020","unstructured":"Gull, Muhammad Ahsan, Bai, Shaoping & Bak, Thomas. A review on design of upper limb exoskeletons. Robotics 9(1), 16 (2020).","journal-title":"Robotics"},{"key":"61368_CR9","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2023.106990","volume":"126","author":"Sachin Kansal","year":"2023","unstructured":"Kansal, Sachin et al. DL-AMPUT-EEG: Design and development of the low-cost prosthesis for rehabilitation of upper limb amputees using deep-learning-based techniques. Engineering Applications of Artificial Intelligence 126, 106990 (2023).","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"2","key":"61368_CR10","doi-asserted-by":"publisher","first-page":"234","DOI":"10.1017\/S0263574721000485","volume":"40","author":"Sachin Kansal","year":"2022","unstructured":"Kansal, Sachin et al. Tele-operation of an industrial robot by an arm exoskeleton for peg-in-hole operation using immersive environments. Robotica 40(2), 234\u2013249 (2022).","journal-title":"Robotica"},{"key":"61368_CR11","unstructured":"Kumar, Rajesh, Kansal, Sachin & Mukherjee, Sudipto. Delta Based Non-Anthropomorphic Hand. In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol.\u00a085451. American Society of Mechanical Engineers (2021). V08BT08A013."},{"key":"61368_CR12","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2025.3609828","author":"X Liu","year":"2025","unstructured":"Liu, X. et al. Robust control under servo constraint following via Nash equilibrium theory for bimanual humanoid manipulation. IEEE Trans. Fuzzy Syst. https:\/\/doi.org\/10.1109\/TFUZZ.2025.3609828 (2025).","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"61368_CR13","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2021.3136088","author":"M Sarajchi","year":"2021","unstructured":"Sarajchi, M., Al-Hares, M. K. & Sirlantzis, K. Wearable lower-limb exoskeleton for children with cerebral palsy: A systematic review of mechanical design, actuation type, control strategy, and clinical evaluation. IEEE Trans. Neural Syst. Rehabil. Eng. https:\/\/doi.org\/10.1109\/TNSRE.2021.3136088 (2021).","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"issue":"4","key":"61368_CR14","doi-asserted-by":"publisher","first-page":"408","DOI":"10.1109\/TMECH.2007.901934","volume":"12","author":"Joel C Perry","year":"2007","unstructured":"Perry, Joel C., Rosen, Jacob & Burns, Stephen. Upper-limb powered exoskeleton design. IEEE\/ASME transactions on mechatronics 12(4), 408\u2013417 (2007).","journal-title":"IEEE\/ASME transactions on mechatronics"},{"issue":"3","key":"61368_CR15","doi-asserted-by":"publisher","first-page":"173","DOI":"10.2174\/2212797610666170907101820","volume":"10","author":"Jingang Jiang","year":"2017","unstructured":"Jiang, Jingang et al. Recent patents on exoskeletal rehabilitation robot for upper limb. Recent Patents on Mechanical Engineering 10(3), 173\u2013181 (2017).","journal-title":"Recent Patents on Mechanical Engineering"},{"issue":"1","key":"61368_CR16","doi-asserted-by":"publisher","first-page":"22","DOI":"10.3390\/technologies10010022","volume":"10","author":"Emanuele Palazzi","year":"2022","unstructured":"Palazzi, Emanuele et al. An affordable upper-limb exoskeleton concept for rehabilitation applications. Technologies 10(1), 22 (2022).","journal-title":"Technologies"},{"key":"61368_CR17","doi-asserted-by":"publisher","first-page":"264","DOI":"10.1016\/j.mechmachtheory.2018.11.007","volume":"132","author":"MN Castro","year":"2019","unstructured":"Castro, M. N. et al. A compact 3-DOF shoulder mechanism constructed with scissors linkages for exoskeleton applications. Mechanism and Machine Theory 132, 264\u2013278 (2019).","journal-title":"Mechanism and Machine Theory"},{"issue":"1","key":"61368_CR18","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1109\/TMECH.2016.2618888","volume":"22","author":"X Cui","year":"2016","unstructured":"Cui, X. et al. Design of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistance. IEEE\/ASME Trans. Mechatron. 22(1), 161\u2013172 (2016).","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"03","key":"61368_CR19","doi-asserted-by":"publisher","first-page":"607","DOI":"10.1142\/S0219843607001175","volume":"4","author":"K Kiguchi","year":"2007","unstructured":"Kiguchi, K. Active exoskeletons for upper-limb motion assist. Int. J. Hum. Robot. 4(03), 607\u2013624 (2007).","journal-title":"Int. J. Hum. Robot."},{"key":"61368_CR20","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1023\/A:1024484615192","volume":"15","author":"NG Tsagarakis","year":"2003","unstructured":"Tsagarakis, N. G. & Caldwell, D. G. Development and control of a \u2018soft-actuated\u2019 exoskeleton for use in physiotherapy and training. Auton. Robots 15, 21\u201333 (2003).","journal-title":"Auton. Robots"},{"issue":"4","key":"61368_CR21","doi-asserted-by":"publisher","first-page":"1938","DOI":"10.1109\/TCDS.2022.3186270","volume":"15","author":"Lukas Hindemith","year":"2023","unstructured":"Hindemith, Lukas et al. Interactive Robot Task Learning: Human Teaching Proficiency With Different Feedback Approaches. IEEE Transactions on Cognitive and Developmental Systems 15(4), 1938\u20131947. https:\/\/doi.org\/10.1109\/TCDS.2022.3186270 (2023).","journal-title":"IEEE Transactions on Cognitive and Developmental Systems"},{"issue":"21","key":"61368_CR22","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1016\/j.ifacol.2016.10.678","volume":"49","author":"Pengfei Liang","year":"2016","unstructured":"Liang, Pengfei et al. Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration. IFAC-PapersOnLine. 49(21), 675\u2013680. https:\/\/doi.org\/10.1016\/j.ifacol.2016.10.678 (2016).","journal-title":"IFAC-PapersOnLine."},{"key":"61368_CR23","unstructured":"Abbasimoshaei, Alireza. Design and Impedance Control of a Hydraulic Robot for Paralyzed People. In 8th RSI International Conference on Robotics and Mechatronics (ICRoM) (2020)."},{"issue":"1","key":"61368_CR24","doi-asserted-by":"publisher","first-page":"654","DOI":"10.1515\/cdbme-2023-1164","volume":"9","author":"Ornella Tortorici","year":"2023","unstructured":"Tortorici, Ornella et al. Design of a Flexible Mechatronic System for Mechanical Impedance Measurement of the Wrist as One Step Towards Robotic Rehabilitation. Current Directions in Biomedical Engineering 9(1), 654\u2013657. https:\/\/doi.org\/10.1515\/cdbme-2023-1164 (2023).","journal-title":"Current Directions in Biomedical Engineering"},{"issue":"1","key":"61368_CR25","first-page":"1","volume":"20","author":"Vahid Dehghan Nistanak","year":"2020","unstructured":"Nistanak, Vahid Dehghan, Moghadam, Majid Mohammadi & Abbasimoshaei, Alireza. Design of a Hand Tendon Injury Rehabilitation System Using a Degree-of-Freedom Constrainer Mechanism. Modares Mechanical Engineering 20(1), 1\u201312 (2020) (issn: 2476-6909).","journal-title":"Modares Mechanical Engineering"},{"key":"61368_CR26","doi-asserted-by":"crossref","unstructured":"Ball, Stephen J., Brown, Ian E. & Scott, Stephen H. MEDARM: a rehabilitation robot with 5DOF at the shoulder complex. In: 2007 IEEE\/ASME international conference on Advanced intelligent mechatronics. IEEE. 2007, pp. 1\u20136 (2007).","DOI":"10.1109\/AIM.2007.4412446"},{"key":"61368_CR27","doi-asserted-by":"crossref","unstructured":"Crea, Simona et al. A novel shoulder-elbow exoskeleton with series elastic actuators. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). pp. 1248\u20131253, IEEE (2016).","DOI":"10.1109\/BIOROB.2016.7523802"},{"issue":"5","key":"61368_CR28","doi-asserted-by":"publisher","first-page":"2034","DOI":"10.1109\/TMECH.2017.2717874","volume":"22","author":"Hsiang-Chien Hsieh","year":"2017","unstructured":"Hsieh, Hsiang-Chien. et al. Design of a parallel actuated exoskeleton for adaptive and safe robotic shoulder rehabilitation. IEEE\/ASME Transactions on Mechatronics 22(5), 2034\u20132045 (2017).","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"8","key":"61368_CR29","doi-asserted-by":"publisher","first-page":"870","DOI":"10.3390\/mi12080870","volume":"12","author":"MR Islam","year":"2021","unstructured":"Islam, M. R. et al. Design and development of an upper limb rehabilitative robot with dual functionality. Micromachines 12(8), 870 (2021).","journal-title":"Micromachines"},{"key":"61368_CR30","doi-asserted-by":"publisher","first-page":"1282295","DOI":"10.3389\/fphys.2023.1282295","volume":"14","author":"Liming Cai","year":"2023","unstructured":"Cai, Liming et al. Muscle synergies in joystick manipulation. Frontiers in Physiology 14, 1282295 (2023).","journal-title":"Frontiers in Physiology"},{"key":"61368_CR31","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1007\/s00221-010-2426-9","volume":"207","author":"GN Lewis","year":"2010","unstructured":"Lewis, G. N. et al. Co-contraction modifies the stretch reflex elicited in muscles shortened by a joint perturbation. Experimental brain research 207, 39\u201348 (2010).","journal-title":"Experimental brain research"},{"key":"61368_CR32","doi-asserted-by":"crossref","unstructured":"McPherson, Jacob G et al. The relationship between the flexion synergy and stretch reflexes in individuals with chronic hemiparetic stroke. In: 2011 IEEE International Conference on Rehabilitation Robotics. IEEE. pp.\u00a01\u20137 (2011).","DOI":"10.1109\/ICORR.2011.5975516"},{"issue":"1","key":"61368_CR33","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/S0165-0270(02)00147-4","volume":"119","author":"FCT Van der Helm","year":"2002","unstructured":"Van der Helm, F. C. T. et al. Identification of intrinsic and reflexive components of human arm dynamics during postural control. Journal of neuroscience methods 119(1), 1\u201314 (2002).","journal-title":"Journal of neuroscience methods"},{"key":"61368_CR34","volume-title":"Fundamentals of manipulator calibration","author":"BW Mooring","year":"1991","unstructured":"Mooring, B. W., Roth, Z. S. & Driels, M. R. Fundamentals of manipulator calibration (Wiley-interscience, 1991)."},{"key":"61368_CR35","volume-title":"Fundamentals of robotics: analysis and control","author":"RJ Schilling","year":"1996","unstructured":"Schilling, R. J. Fundamentals of robotics: analysis and control (Simon & Schuster Trade, 1996)."},{"key":"61368_CR36","doi-asserted-by":"crossref","unstructured":"Pizzagalli, S.L., Kuts, V. & Otto, T. User-centered design for Human-Robot Collaboration systems. In: IOP Conference Series: Materials Science and Engineering. Vol.\u00a01140. 1. IOP Publishing. p.\u00a0012011 (2021).","DOI":"10.1088\/1757-899X\/1140\/1\/012011"},{"issue":"1","key":"61368_CR37","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1515\/pjbr-2021-0003","volume":"12","author":"Sofia Thunberg","year":"2020","unstructured":"Thunberg, Sofia & Ziemke, Tom. User-centred design of humanoid robots\u2019 communication. Paladyn, Journal of Behavioral Robotics 12(1), 58\u201373 (2020).","journal-title":"Paladyn, Journal of Behavioral Robotics"},{"key":"61368_CR38","unstructured":"Andersonvillept. February 2012 Body Wellness: The Planes of Motion andersonvillept.com. https:\/\/andersonvillept.com\/blog\/february-2012-body-wellness-planes-motion. [Accessed 20-07-2024]. (2012)."},{"key":"61368_CR39","unstructured":"Varacallo, Matthew, Chang, Lou-Ren & Anand, Prashanth. Anatomy, Shoulder and Upper Limb, Glenohumeral Joint. Chang,L.-R.(2023)Anatomy,shoulderandupperlimb,glenohumeraljoint,StatPearls[Internet].Availableat:https:\/\/www.ncbi.nlm.nih.gov\/books\/NBK537018 (2023)."},{"issue":"3","key":"61368_CR40","doi-asserted-by":"publisher","first-page":"464","DOI":"10.3390\/app8030464","volume":"8","author":"X Wang","year":"2018","unstructured":"Wang, X. et al. Kinematics and dynamics analysis of a 3-DOF upper-limb exoskeleton with an internally rotated elbow joint. Applied Sciences 8(3), 464. https:\/\/doi.org\/10.3390\/app8030464 (2018).","journal-title":"Applied Sciences"},{"key":"61368_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2018\/2719631","volume":"2018","author":"Z Song","year":"2018","unstructured":"Song, Z. et al. A new skeleton model and the motion rhythm analysis for human shoulder complex oriented to rehabilitation robotics. Applied Bionics and Biomechanics 2018, 1\u201315. https:\/\/doi.org\/10.1155\/2018\/2719631 (2018).","journal-title":"Applied Bionics and Biomechanics"},{"key":"61368_CR42","volume-title":"Physiology of the Joints E-Book: Physiology of the Joints E-Book","author":"IA Kapandji","year":"2016","unstructured":"Kapandji, I. A. Physiology of the Joints E-Book: Physiology of the Joints E-Book (Elsevier Health Sciences, 2016)."},{"key":"61368_CR43","unstructured":"American Academy of Orthopaedic Surgeons and British Orthopaedic Association. Joint Motion: Method of Measuring and Recording. Reprinted 1966. Edinburgh: British Orthopaedic Association, (1965)."},{"issue":"5","key":"61368_CR44","doi-asserted-by":"publisher","first-page":"981","DOI":"10.1016\/j.jbiomech.2004.05.042","volume":"38","author":"Wu Ge","year":"2005","unstructured":"Ge, Wu. et al. ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion-Part II: shoulder, elbow, wrist and hand. Journal of Biomechanics 38(5), 981\u2013992 (2005).","journal-title":"Journal of Biomechanics"},{"issue":"3","key":"61368_CR45","doi-asserted-by":"publisher","first-page":"500","DOI":"10.1111\/j.1365-2516.2010.02399.x","volume":"17","author":"JM Soucie","year":"2011","unstructured":"Soucie, J. M. et al. Range of motion measurements: reference values and a database for comparison studies. Haemophilia 17(3), 500\u2013507 (2011).","journal-title":"Haemophilia"},{"key":"61368_CR46","doi-asserted-by":"publisher","unstructured":"Hip, Knee, and Ankle Joint Forces During Exoskeletal-Assisted Walking: Comparison of Approaches to Simulate Human-Robot Interactions. PLOS ONE 20(8). https:\/\/doi.org\/10.1371\/journal.pone.0322247 (2025).","DOI":"10.1371\/journal.pone.0322247"},{"issue":"2","key":"61368_CR47","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1080\/02701367.1983.10605290","volume":"54","author":"S Plagenhoef","year":"1983","unstructured":"Plagenhoef, S., Evans, F. G. & Abdelnour, T. Anatomical data for analyzing human motion. Research quarterly for exercise and sport 54(2), 169\u2013178 (1983).","journal-title":"Research quarterly for exercise and sport"},{"key":"61368_CR48","doi-asserted-by":"crossref","unstructured":"Clauser, C. E., McConville, J. T., & Young, J. W. Weight, volume, and center of mass of segments of the human body. Tech. rep. (1969)","DOI":"10.21236\/AD0710622"},{"issue":"12","key":"61368_CR49","first-page":"28","volume":"19","author":"Geoffrey Boothroyd","year":"1987","unstructured":"Boothroyd, Geoffrey. Design for Assembly: The Key to Design for Manufacture. Industrial Engineering 19(12), 28\u201331 (1987).","journal-title":"Industrial Engineering"},{"issue":"3","key":"61368_CR50","first-page":"754","volume":"34","author":"G Palli","year":"2018","unstructured":"Palli, G., Melchiorri, C. & De Luca, A. Development of a portable elbow exoskeleton using twisted string actuation. IEEE Transactions on Robotics 34(3), 754\u2013765 (2018).","journal-title":"IEEE Transactions on Robotics"},{"key":"61368_CR51","volume":"94","author":"AW de Vries","year":"2021","unstructured":"de Vries, A. W. et al. Evaluation of the static and dynamic assistive torque of a passive upper limb occupational exoskeleton. Applied Ergonomics 94, 103394 (2021).","journal-title":"Applied Ergonomics"},{"issue":"1","key":"61368_CR52","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1109\/TASE.2022.3144673","volume":"20","author":"RK Malhan","year":"2022","unstructured":"Malhan, R. K. et al. Generation of configuration space trajectories over semi-constrained cartesian paths for robotic manipulators. IEEE Transactions on Automation Science and Engineering 20(1), 193\u2013205 (2022).","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"18","key":"61368_CR53","doi-asserted-by":"publisher","first-page":"20607","DOI":"10.1109\/JSEN.2023.3270172","volume":"23","author":"B Suthar","year":"2023","unstructured":"Suthar, B. et al. Design of adaptive sensor coupling-based upper limb 7-DOF exoskeleton for smooth human motion tracking: ASC-EXO. IEEE Sens. J. 23(18), 20607\u201320618 (2023).","journal-title":"IEEE Sens. J."},{"key":"61368_CR54","doi-asserted-by":"crossref","unstructured":"Bhivraj Suthar et al. Removal of jittering in KUKA KR5 while tele-operation with exoskeleton. In Proceedings of the 2015 Conference on Advances In Robotics 1\u20135 (2015).","DOI":"10.1145\/2783449.2783496"},{"key":"61368_CR55","doi-asserted-by":"crossref","unstructured":"Zubair, Mohd et al. Kinematic mapping of Exoskeleton with virtual KUKA robot. In 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA) 1\u20135 (IEEE, 2016).","DOI":"10.1109\/RAHA.2016.7931869"},{"key":"61368_CR56","doi-asserted-by":"crossref","unstructured":"Dubowsky, S. & Shiller, Z. Optimal dynamic trajectories for robotic manipulators. In: Theory and Practice of Robots and Manipulators: Proceedings of RoManSy\u201984: The Fifth CISM\u2014IFToMM Symposium. pp.\u00a0133\u2013143 Springer (1985).","DOI":"10.1007\/978-1-4615-9882-4_15"},{"issue":"3","key":"61368_CR57","doi-asserted-by":"publisher","first-page":"2051","DOI":"10.1007\/s00170-024-14141-2","volume":"134","author":"Camilo Andr\u00e9s Gonzalez Olier","year":"2024","unstructured":"Olier, Camilo Andr\u00e9s Gonzalez., Ram\u0131rez, Heriberto Enrique Maury. & Higuera, Leidy Milena Mora. A novel methodology for the selection of the optimal velocity profile for planned point-to-point trajectories in 1-DoF manipulators. The International Journal of Advanced Manufacturing Technology 134(3), 2051\u20132065 (2024).","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"10","key":"61368_CR58","first-page":"1347","volume":"42","author":"A Gasparetto","year":"2007","unstructured":"Gasparetto, A. & Zanotto, V. A new method for smooth trajectory planning of robot manipulators. Mech. Mach. Theory 42(10), 1347\u20131371 (2007).","journal-title":"Mech. Mach. Theory"},{"issue":"4","key":"61368_CR59","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1109\/70.954751","volume":"17","author":"MA Peshkin","year":"2001","unstructured":"Peshkin, M. A. et al. Cobot architecture. IEEE Trans. Robot. Autom. 17(4), 377\u2013390 (2001).","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"2","key":"61368_CR60","doi-asserted-by":"publisher","first-page":"265","DOI":"10.20965\/ijat.2014.p0265","volume":"8","author":"W Aribowo","year":"2026","unstructured":"Aribowo, W. & Terashima, K. Cubic Spline Trajectory Planning and Vibration Suppression of Robot Arms. International Journal of Automation Technology 8(2), 265\u2013273 (2026).","journal-title":"International Journal of Automation Technology"},{"key":"61368_CR61","volume-title":"Modeling, Identification and Control of Robots","author":"W Khalil","year":"2002","unstructured":"Khalil, W. & Dombre, E. Modeling, Identification and Control of Robots (Butterworth-Heinemann, 2002)."},{"key":"61368_CR62","unstructured":"Meng, Q. & Takeda, Y. A Trajectory Planning Approach Considering Motion Smoothness and Dynamic Stress. Journal of Mechanisms and Robotics 15(4) (2025)."},{"issue":"23","key":"61368_CR63","doi-asserted-by":"publisher","first-page":"7506","DOI":"10.3390\/s24237506","volume":"24","author":"X Wang","year":"2024","unstructured":"Wang, X. et al. A Linear Rehabilitative Motion Planning Method with a Multi-Posture Lower-Limb Rehabilitation Robot. Sensors 24(23), 7506. https:\/\/doi.org\/10.3390\/s24237506 (2024).","journal-title":"Sensors"},{"issue":"11","key":"61368_CR64","doi-asserted-by":"publisher","first-page":"3528","DOI":"10.3390\/s25113528","volume":"25","author":"M Amanati","year":"2025","unstructured":"Amanati, M. et al. Enhancing Upper Limb Exoskeletons Using Sensor-Based Deep Learning Torque Prediction and PID Control. Sensors 25(11), 3528. https:\/\/doi.org\/10.3390\/s25113528 (2025).","journal-title":"Sensors"},{"key":"61368_CR65","doi-asserted-by":"publisher","unstructured":"Design and Control of a Single-Leg Exoskeleton with Gravity Compensation for Children with Unilateral Cerebral Palsy. Sensors 23(13), 6103. https:\/\/doi.org\/10.3390\/s23136103 (2023).","DOI":"10.3390\/s23136103"},{"key":"61368_CR66","unstructured":"Zubair, Mohd et al. Implementation of I2C Communication Protocol in Exoskeleton for tele-operation of Industrial Robot (2016)."},{"issue":"1","key":"61368_CR67","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1016\/S0167-6911(00)00077-3","volume":"42","author":"Ilse Cervantes","year":"2001","unstructured":"Cervantes, Ilse & Alvarez-Ramirez, Jose. On the PID tracking control of robot manipulators. Systems & control letters 42(1), 37\u201346 (2001).","journal-title":"Systems & control letters"},{"issue":"12","key":"61368_CR68","first-page":"201","volume":"28","author":"Abdel-Nasser Sharkawy","year":"2019","unstructured":"Sharkawy, Abdel-Nasser. & Koustoumpardis, Panagiotis. Dynamics and computed-torque control of a 2-DOF manipulator: Mathematical analysis. International Journal of Advanced Science and Technology 28(12), 201\u2013212 (2019).","journal-title":"International Journal of Advanced Science and Technology"}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-026-61368-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-026-61368-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-026-61368-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,20]],"date-time":"2026-10-20T00:17:24Z","timestamp":1792455444000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-026-61368-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,18]]},"references-count":68,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,12]]}},"alternative-id":["61368"],"URL":"https:\/\/doi.org\/10.1038\/s41598-026-61368-y","relation":{},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,18]]},"assertion":[{"value":"2 December 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 July 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 July 2026","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","label":"Competing interests","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"All the authors have read, understood, and have complied as applicable with the statement on \u201cEthical responsibilities of Authors\u201d as found in the Instructions for Authors. They are aware that, with minor exceptions, no changes can be made to authorship once the paper is submitted.","order":2,"name":"Ethics","label":"Ethical approval","group":{"name":"EthicsHeading","label":"Declarations"}}],"article-number":"32993"}}