{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T23:31:31Z","timestamp":1772148691529,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,11,12]],"date-time":"2021-11-12T00:00:00Z","timestamp":1636675200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Education, Science, Culture and Sports Republic of Armenia","award":["21DP-2D006"],"award-info":[{"award-number":["21DP-2D006"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control (EP) of a new human upper limb exoskeleton. Considering the upper limb as a multi-muscle redundant system, a similar over-actuated but cable-driven mechatronic system is developed to imitate upper limb motor functions. Additional torque adjusting systems at the joints allow users to lift light weights necessary for activities of daily living (ADL) without increasing electric motor powers of the device. A theoretical model of the \u201cideal\u201d artificial muscle exoskeleton is also developed using Hill\u2019s natural muscle model. Optimal design parameters of the exoskeleton are defined using the differential evolution (DE) method as a technique of a multi-objective optimization. The proposed cable-driven exoskeleton was then fabricated and tested on a healthy subject. Results showed that the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehabilitation robots. Further studies may include a spatial mechanism design, which is especially important for the shoulder rehabilitation, and development of reinforcement learning control algorithms to provide more efficient rehabilitation treatment.<\/jats:p>","DOI":"10.3390\/robotics10040123","type":"journal-article","created":{"date-parts":[[2021,11,14]],"date-time":"2021-11-14T20:52:28Z","timestamp":1636923148000},"page":"123","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton"],"prefix":"10.3390","volume":"10","author":[{"given":"Narek","family":"Zakaryan","sequence":"first","affiliation":[{"name":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"}]},{"given":"Mikayel","family":"Harutyunyan","sequence":"additional","affiliation":[{"name":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4740-995X","authenticated-orcid":false,"given":"Yuri","family":"Sargsyan","sequence":"additional","affiliation":[{"name":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gull, M.A., Bai, S., and Bak, T. 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