{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T14:59:17Z","timestamp":1778165957078,"version":"3.51.4"},"reference-count":40,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2020,5,4]],"date-time":"2020-05-04T00:00:00Z","timestamp":1588550400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2020,5,4]]},"abstract":"Purpose<\/jats:title>The purpose of this paper is to design and develop a new robotic device for the rehabilitation of the upper limbs. The authors are focusing on a new symmetrical robot which can be used to rehabilitate the right upper limb and the left upper limb. The robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The main idea is to integrate electrical stimulation into motor rehabilitation by robot. The goal is to provide automatic electrical stimulation based on muscle status during the rehabilitation process.<\/jats:p><\/jats:sec>Design\/methodology\/approach<\/jats:title>The developed robotic arm can be automatically extended or reduced depending on the measurements of the patient's arm. The system merges two rehabilitation strategies: motor rehabilitation and electrical stimulation. The goal is to take the advantages of both approaches. Electrical stimulation is often used for building muscle through endurance, resistance and strength exercises. However, in the proposed approach the electrical stimulation is used for recovery, relaxation and pain relief. In addition, the device includes an electromyography (EMG) muscle sensor that records muscle activity in real time. The control architecture provides the ability to automatically activate the appropriate stimulation mode based on the acquired EMG signal. The system software provides two modes for stimulation activation: the manual preset mode and the EMG driven mode. The program ensures traceability and provides the ability to issue a patient status monitoring report.<\/jats:p><\/jats:sec>Findings<\/jats:title>The developed robotic device is symmetrical and reconfigurable. The presented rehabilitation system includes a muscle stimulator associated with the robot to improve the quality of the rehabilitation process. The integration of neuromuscular electrical stimulation into the physical rehabilitation process offers effective rehabilitation sessions for neuromuscular recovery of the upper limb. A laboratory-made stimulator is developed to generate three modes of stimulation: pain relief, massage and relaxation. Through the control software interface, the physiotherapist can set the exercise movement parameters, define the stimulation mode and record the patient training in real time.<\/jats:p><\/jats:sec>Research limitations\/implications<\/jats:title>There are certain constraints when applying the proposed method, such as the sensitivity of the acquired EMG signals. This involves the use of professional equipment and mainly the implementation of sophisticated algorithms for signal extraction.<\/jats:p><\/jats:sec>Practical implications<\/jats:title>Functional electrical stimulation and robot-based motor rehabilitation are the most important technologies applied in post-stroke rehabilitation. The main objective of integrating robots into the rehabilitation process is to compensate for the functions lost in people with physical disabilities. The stimulation technique can be used for recovery, relaxation and drainage and pain relief. In this context, the idea is to integrate electrical stimulation into motor rehabilitation based on a robot to obtain the advantages of the two approaches to further improve the rehabilitation process. The introduction of this type of robot also makes it possible to develop new exciting assistance devices.<\/jats:p><\/jats:sec>Originality\/value<\/jats:title>The proposed design is symmetrical, reconfigurable and light, covering all the joints of the upper limbs and their movements. In addition, the developed platform is inexpensive and a portable solution based on open source hardware platforms which opens the way to more extensions and developments. Electrical stimulation is often used to improve motor function and restore loss of function. However, the main objective behind the proposed stimulation in this paper is to recover after effort. The novelty of the proposed solution is to integrate the electrical stimulation powered by EMG in robotic rehabilitation.<\/jats:p><\/jats:sec>","DOI":"10.1108\/ir-02-2020-0041","type":"journal-article","created":{"date-parts":[[2020,5,6]],"date-time":"2020-05-06T05:17:06Z","timestamp":1588742226000},"page":"489-501","source":"Crossref","is-referenced-by-count":45,"title":["Design and control of an exoskeleton robot with EMG-driven electrical stimulation for upper limb rehabilitation"],"prefix":"10.1108","volume":"47","author":[{"given":"Yassine","family":"Bouteraa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ismail","family":"Ben Abdallah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ahmed","family":"Elmogy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"2","key":"key2020070908325064400_ref001","article-title":"design and development of 3D printed myoelectric robotic exoskeleton for hand rehabilitation","volume":"10","year":"2017","journal-title":"International Journal on Smart Sensing & Intelligent Systems"},{"issue":"1","key":"key2020070908325064400_ref002","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1155\/2012\/136837","article-title":"Adaptive control of a wearable exoskeleton for upper-extremity neurorehabilitation","volume":"9","year":"2012","journal-title":"Applied Bionics and Biomechanics"},{"issue":"2","key":"key2020070908325064400_ref003","article-title":"design of smart robot for wrist rehabilitation","volume":"9","year":"2016","journal-title":"International Journal on Smart Sensing & Intelligent Systems"},{"key":"key2020070908325064400_ref004","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1016\/j.bspc.2019.02.011","article-title":"A review on EMG-based motor intention prediction of continuous human upper limb motion for human-robot collaboration","volume":"51","year":"2019","journal-title":"Biomedical Signal Processing and Control"},{"key":"key2020070908325064400_ref005","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/SSD.2016.7473769","article-title":"Exoskeleton robots for upper-limb rehabilitation","volume-title":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","year":"2016"},{"issue":"5","key":"key2020070908325064400_ref006","article-title":"A gesture-based telemanipulation control for a robotic arm with biofeedback-based grasp","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"issue":"1","key":"key2020070908325064400_ref007","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1007\/s10846-018-0966-6","article-title":"Training of hand rehabilitation using low cost exoskeleton and vision-based game interface","volume":"96","year":"2019","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2020070908325064400_ref008","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1016\/j.compeleceng.2017.02.004","article-title":"Task-space region-reaching control for medical robot manipulator","volume":"67","year":"2018","journal-title":"Computers & Electrical Engineering"},{"key":"key2020070908325064400_ref009","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1109\/COMITCon.2019.8862454","article-title":"Tools and techniques of assistive technology for hearing impaired people","volume-title":"2019 International Conference on Machine Learning, Big Data, Cloud and Parallel Computing (COMITCon)","year":"2019"},{"key":"key2020070908325064400_ref010","first-page":"315","article-title":"Design and development of a pneumatic robot for neurorehabilitation therapies","volume-title":"Robot 2015: Second Iberian Robotics Conference","year":"2016"},{"key":"key2020070908325064400_ref011","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.cmpb.2018.04.005","article-title":"Deep learning for healthcare applications based on physiological signals: a review","volume":"161","year":"2018","journal-title":"Computer Methods and Programs in Biomedicine"},{"issue":"9","key":"key2020070908325064400_ref012","doi-asserted-by":"crossref","first-page":"1256","DOI":"10.1007\/s00586-008-0729-3","article-title":"Role of electrical stimulation for rehabilitation and regeneration after spinal cord injury: an overview","volume":"17","year":"2008","journal-title":"European Spine Journal"},{"key":"key2020070908325064400_ref014","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1016\/B978-0-12-814942-3.00007-6","article-title":"Voluntary intention-driven rehabilitation robots for the upper limb","volume-title":"Intelligent Biomechatronics in Neurorehabilitation","year":"2020"},{"key":"key2020070908325064400_ref013","first-page":"273","article-title":"EMG-Based control for Three-Dimensional upper limb movement assistance using a cable-based upper limb rehabilitation robot","volume-title":"International Conference on Intelligent Robotics and Applications","year":"2017"},{"key":"key2020070908325064400_ref015","doi-asserted-by":"crossref","first-page":"3530","DOI":"10.1109\/ICRA.2016.7487534","article-title":"Active impedance control of a lower limb exoskeleton to assist sit-to-stand movement","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA)","year":"2016"},{"issue":"6","key":"key2020070908325064400_ref016","doi-asserted-by":"crossref","first-page":"1015","DOI":"10.1016\/j.apmr.2019.02.003","article-title":"Robotic-assisted shoulder rehabilitation therapy effectively improved poststroke hemiplegic shoulder pain: a randomized controlled trial","volume":"100","year":"2019","journal-title":"Archives of Physical Medicine and Rehabilitation"},{"key":"key2020070908325064400_ref017","doi-asserted-by":"crossref","first-page":"597","DOI":"10.3389\/fnins.2017.00597","article-title":"Design of a soft robotic elbow sleeve with passive and intent-controlled actuation","volume":"11","year":"2017","journal-title":"Frontiers in Neuroscience"},{"issue":"3","key":"key2020070908325064400_ref019","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1109\/TNSRE.2007.903899","article-title":"Robot-aided neurorehabilitation: a robot for wrist rehabilitation","volume":"15","year":"2007","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"issue":"1","key":"key2020070908325064400_ref018","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1023\/A:1024494031121","article-title":"Rehabilitation robotics: performance-based progressive robot-assisted therapy","volume":"15","year":"2003","journal-title":"Autonomous Robots"},{"key":"key2020070908325064400_ref020","first-page":"2720","article-title":"Novel upper-limb rehabilitation system based on attention technology for post-stroke patients: a preliminary study","volume":"6","year":"2017","journal-title":"IEEE Access"},{"issue":"3","key":"key2020070908325064400_ref021","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1007\/s10544-018-0312-6","article-title":"Development of a powered variable-stiffness exoskeleton device for elbow rehabilitation","volume":"20","year":"2018","journal-title":"Biomedical Microdevices"},{"issue":"4","key":"key2020070908325064400_ref022","doi-asserted-by":"crossref","first-page":"806","DOI":"10.1016\/j.apmr.2017.10.028","article-title":"Clinical use of neuromuscular electrical stimulation for neuromuscular rehabilitation: what are we overlooking?","volume":"99","year":"2018","journal-title":"Archives of Physical Medicine and Rehabilitation"},{"key":"key2020070908325064400_ref023","doi-asserted-by":"crossref","first-page":"428","DOI":"10.1109\/GlobalSIP.2017.8308678","article-title":"Brain-computer interface and functional electrical stimulation for upper limb rehabilitation after stroke","volume-title":"2017 IEEE Global Conference on Signal and Information Processing (GlobalSIP)","year":"2017"},{"issue":"3","key":"key2020070908325064400_ref024","doi-asserted-by":"crossref","first-page":"998","DOI":"10.24200\/sci.2016.3868","article-title":"Design and prototype of an active assistive exoskeletal robot for rehabilitation of elbow and wrist","volume":"23","year":"2016","journal-title":"Scientia Iranica"},{"key":"key2020070908325064400_ref025","article-title":"Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger","year":"2019","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"2","key":"key2020070908325064400_ref026","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1155\/2009\/962956","article-title":"ARMin III\u2013arm therapy exoskeleton with an ergonomic shoulder actuation","volume":"6","year":"2009","journal-title":"Applied Bionics and Biomechanics"},{"issue":"4","key":"key2020070908325064400_ref027","doi-asserted-by":"crossref","first-page":"408","DOI":"10.1109\/TMECH.2007.901934","article-title":"Upper-limb powered exoskeleton design","volume":"12","year":"2007","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"12","key":"key2020070908325064400_ref028","doi-asserted-by":"crossref","first-page":"11156","DOI":"10.1016\/j.eswa.2012.03.039","article-title":"Fractal analysis features for weak and single-channel upper-limb EMG signals","volume":"39","year":"2012","journal-title":"Expert Systems with Applications"},{"key":"key2020070908325064400_ref029","first-page":"63","article-title":"Smart sensing and biofeedback for vertical jump in sports","volume-title":"Modern Sensing Technologies","year":"2019"},{"issue":"5","key":"key2020070908325064400_ref030","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1016\/j.rehab.2018.06.005","article-title":"Adding electrical stimulation during standard rehabilitation after stroke to improve motor function","volume":"61","year":"2018","journal-title":"Annals of Physical and Rehabilitation Medicine"},{"issue":"4","key":"key2020070908325064400_ref031","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1109\/TNSRE.2008.926707","article-title":"Assistive control system using continuous myoelectric signal in robot-aided arm training for patients after stroke","volume":"16","year":"2008","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering: a Publication of the Ieee Engineering in Medicine and Biology Society"},{"issue":"4","key":"key2020070908325064400_ref032","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1097\/PHM.0b013e3180383cc5","article-title":"Electromyography-controlled exoskeletal upper-limb\u2013powered orthosis for exercise training after stroke","volume":"86","year":"2007","journal-title":"American Journal of Physical Medicine & Rehabilitation"},{"key":"key2020070908325064400_ref033","doi-asserted-by":"crossref","first-page":"e94","DOI":"10.1016\/j.rehab.2018.05.201","article-title":"EEG-based neurofeedback training with shoulder exoskeleton robot assistance triggered by the contralesional primary motor cortex activity in poststroke patients with severe chronic hemiplegia","volume":"61","year":"2018","journal-title":"Annals of Physical and Rehabilitation Medicine"},{"key":"key2020070908325064400_ref034","doi-asserted-by":"crossref","first-page":"207","DOI":"10.2147\/MDER.S123464","article-title":"Review of devices used in neuromuscular electrical stimulation for stroke rehabilitation","volume":"10","year":"2017","journal-title":"Medical Devices: Evidence and Research"},{"issue":"1","key":"key2020070908325064400_ref035","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1186\/s12984-017-0323-1","article-title":"Effects of somatosensory electrical stimulation on motor function and cortical oscillations","volume":"14","year":"2017","journal-title":"Journal of Neuroengineering and Rehabilitation"},{"issue":"14","key":"key2020070908325064400_ref036","doi-asserted-by":"crossref","first-page":"1900149","DOI":"10.1002\/advs.201900149","article-title":"Investigation of low-current direct stimulation for rehabilitation treatment related to muscle function loss using self-powered TENG system","volume":"6","year":"2019","journal-title":"Advanced Science"},{"key":"key2020070908325064400_ref037","doi-asserted-by":"crossref","first-page":"1436","DOI":"10.1109\/EMBC.2018.8512543","article-title":"A novel EMG-driven functional electrical stimulator for post-stroke individuals to practice activities of daily living","volume-title":"2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","year":"2018"},{"key":"key2020070908325064400_ref038","doi-asserted-by":"crossref","first-page":"103390","DOI":"10.1016\/j.robot.2019.103390","article-title":"Design and performance analysis of a parallel wrist rehabilitation robot (PWRR)","volume":"125","year":"2020","journal-title":"Robotics and Autonomous Systems"},{"issue":"8","key":"key2020070908325064400_ref039","doi-asserted-by":"crossref","first-page":"1710","DOI":"10.3390\/app9081710","article-title":"A telepresence system for therapist-in-the-loop training for elbow joint rehabilitation","volume":"9","year":"2019","journal-title":"Applied Sciences"},{"issue":"2","key":"key2020070908325064400_ref040","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1177\/027836498700600202","article-title":"Adaptive control of mechanical manipulators","volume":"6","year":"1987","journal-title":"The International Journal of Robotics Research"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2020-0041\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-02-2020-0041\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:27Z","timestamp":1753393107000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/4\/489-501\/186930"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,4]]},"references-count":40,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,5,4]]}},"alternative-id":["10.1108\/IR-02-2020-0041"],"URL":"https:\/\/doi.org\/10.1108\/ir-02-2020-0041","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2020,5,4]]}}}