{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T09:59:41Z","timestamp":1780912781650,"version":"3.54.1"},"reference-count":28,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2021,6,26]],"date-time":"2021-06-26T00:00:00Z","timestamp":1624665600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100009543","name":"Pontificia Universidad Javeriana","doi-asserted-by":"publisher","award":["ID 20128"],"award-info":[{"award-number":["ID 20128"]}],"id":[{"id":"10.13039\/501100009543","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robotic-assisted systems have gained significant traction in post-stroke therapies to support rehabilitation, since these systems can provide high-intensity and high-frequency treatment while allowing accurate motion-control over the patient\u2019s progress. In this paper, we tackle how to provide active support through a robotic-assisted exoskeleton by developing a novel closed-loop architecture that continually measures electromyographic signals (EMG), in order to adjust the assistance given by the exoskeleton. We used EMG signals acquired from four patients with post-stroke hand impairments for training machine learning models used to characterize muscle effort by classifying three muscular condition levels based on contraction strength, co-activation, and muscular activation measurements. The proposed closed-loop system takes into account the EMG muscle effort to modulate the exoskeleton velocity during the rehabilitation therapy. Experimental results indicate the maximum variation on velocity was 0.7 mm\/s, while the proposed control system effectively modulated the movements of the exoskeleton based on the EMG readings, keeping a reference tracking error &lt;5%.<\/jats:p>","DOI":"10.3390\/s21134372","type":"journal-article","created":{"date-parts":[[2021,6,27]],"date-time":"2021-06-27T23:57:22Z","timestamp":1624838242000},"page":"4372","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["Assist-As-Needed Exoskeleton for Hand Joint Rehabilitation Based on Muscle Effort Detection"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7224-2664","authenticated-orcid":false,"given":"Jenny Carolina","family":"Castiblanco","sequence":"first","affiliation":[{"name":"School of Engineering, Pontificia Universidad Javeriana Bogota, Cra. 7 No. 40-62, Bogota 110231, Colombia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7828-6681","authenticated-orcid":false,"given":"Ivan Fernando","family":"Mondragon","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, Pontificia Universidad Javeriana Bogota, Cra. 7 No. 40-62, Bogota 110231, Colombia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2315-5692","authenticated-orcid":false,"given":"Catalina","family":"Alvarado-Rojas","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Pontificia Universidad Javeriana Bogota, Cra. 7 No. 40-62, Bogota 110231, Colombia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6925-0126","authenticated-orcid":false,"given":"Julian D.","family":"Colorado","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Pontificia Universidad Javeriana Bogota, Cra. 7 No. 40-62, Bogota 110231, Colombia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,6,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1177\/1545968307305457","article-title":"Effects of Robot-Assisted Therapy on Upper Limb Recovery After Stroke: A Systematic Review","volume":"22","author":"Kwakkel","year":"2008","journal-title":"Neurorehabil. 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