{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T08:52:59Z","timestamp":1773391979481,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T00:00:00Z","timestamp":1693785600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.<\/jats:p>","DOI":"10.3390\/s23177652","type":"journal-article","created":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T10:24:30Z","timestamp":1693823070000},"page":"7652","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3116-7386","authenticated-orcid":false,"given":"Giorgia","family":"Chiriatti","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4342-3751","authenticated-orcid":false,"given":"Luca","family":"Carbonari","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2694-4638","authenticated-orcid":false,"given":"Maria Gabriella","family":"Ceravolo","sequence":"additional","affiliation":[{"name":"Department of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7982-9871","authenticated-orcid":false,"given":"Elisa","family":"Andrenelli","sequence":"additional","affiliation":[{"name":"Department of Experimental and Clinical Medicine, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"given":"Marzia","family":"Millevolte","sequence":"additional","affiliation":[{"name":"Neurorehabilitation Clinic, Ancona University Hospital, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7820-2890","authenticated-orcid":false,"given":"Giacomo","family":"Palmieri","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"032073","DOI":"10.1088\/1757-899X\/537\/3\/032073","article-title":"Automation and robotics in the context of Industry 4.0: The shift to collaborative robots","volume":"Volume 537","author":"Galin","year":"2019","journal-title":"IOP Conference Series: Materials Science and Engineering"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Maddikunta, P.K.R., Pham, Q.V., Prabadevi, B., Deepa, N., Dev, K., Gadekallu, T.R., Ruby, R., and Liyanage, M. 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