{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T02:32:57Z","timestamp":1776479577050,"version":"3.51.2"},"reference-count":36,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,12,3]],"date-time":"2020-12-03T00:00:00Z","timestamp":1606953600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002803","name":"Fondazione Cariplo","doi-asserted-by":"publisher","award":["EMPATIA@Lecco project, Rif.337 2016-1428 Decreto Regione Lombardia 6363 del 30\/05\/2017"],"award-info":[{"award-number":["EMPATIA@Lecco project, Rif.337 2016-1428 Decreto Regione Lombardia 6363 del 30\/05\/2017"]}],"id":[{"id":"10.13039\/501100002803","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The patient population needing physical rehabilitation in the upper extremity is constantly increasing. Robotic devices have the potential to address this problem, however most of the rehabilitation robots are technically advanced and mainly designed for clinical use. This paper presents the development of an affordable device for upper-limb neurorehabilitation designed for home use. The device is based on a 2-DOF five-bar parallel kinematic mechanism. The prototype has been designed so that it can be bound on one side of a table with a clamp. A kinematic optimization was performed on the length of the links of the manipulator in order to provide the optimum kinematic behaviour within the desired workspace. The mechanical structure was developed, and a 3D-printed prototype was assembled. The prototype embeds two single-point load cells to measure the force exchanged with the patient. Rehabilitation-specific control algorithms are described and tested. Finally, an experimental procedure is performed in order to validate the accuracy of the position measurements. The assessment confirms an acceptable level of performance with respect to the requirements of the application under analysis.<\/jats:p>","DOI":"10.3390\/robotics9040104","type":"journal-article","created":{"date-parts":[[2020,12,3]],"date-time":"2020-12-03T11:15:43Z","timestamp":1606994143000},"page":"104","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["A Planar Parallel Device for Neurorehabilitation"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4376-7183","authenticated-orcid":false,"given":"Jawad","family":"Yamine","sequence":"first","affiliation":[{"name":"Politecnico di Milano, Via la Masa 1, 20156 Milano, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9088-0229","authenticated-orcid":false,"given":"Alessio","family":"Prini","sequence":"additional","affiliation":[{"name":"Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, Consiglio Nazionale delle Ricerche, via G. 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