{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T15:23:11Z","timestamp":1785424991787,"version":"3.56.0"},"reference-count":39,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["62473263"],"award-info":[{"award-number":["62473263"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"award":["62473263"],"award-info":[{"award-number":["62473263"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>To address the lack of standardized safety assessment tools for upper-limb rehabilitation robots, this study developed an integrated testing platform and a quantitative safety assessment framework, demonstrated with FlexoArm1 as a proof-of-concept. A 6-degree-of-freedom bionic arm equipped with multiple sensors was constructed, and a fuzzy PID control algorithm was employed to improve motion trajectory tracking accuracy. A fuzzy multi-criteria safety assessment model was established by combining the Analytic Hierarchy Process (AHP) with the entropy weight method. Experiments were conducted on the rehabilitation robot FlexoArm1. The platform reliably replaced human subjects in range-of-motion testing, interactive torque measurement (peak torque approximately 6.2 N\u00b7m in fully active mode), and spasticity simulation, with angular data showing close agreement with Inertial Measurement Unit (IMU) measurements. The assessment model assigned a comprehensive safety score of 70.23 to the tested device, successfully identifying weaknesses in fault detection capability and structural safety design. The proposed bionic-arm-based testing platform and the accompanying safety assessment methodology provide practical tools and a quantitative basis for standardizing safety evaluation and guiding design optimization of upper-limb rehabilitation robots.<\/jats:p>","DOI":"10.3390\/biomimetics11070456","type":"journal-article","created":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T10:41:01Z","timestamp":1782902461000},"page":"456","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Standardized Testing and Quantitative Safety Assessment for Upper Limb Rehabilitation Robots: A Bionic Robotic Platform and Integrated Evaluation Framework"],"prefix":"10.3390","volume":"11","author":[{"given":"Yuheng","family":"Jiang","sequence":"first","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanchen","family":"Du","sequence":"additional","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"},{"name":"Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shengli","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaolong","family":"Shu","sequence":"additional","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingzhuo","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongliu","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China"},{"name":"Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,7,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1016\/S0140-6736(13)61953-4","article-title":"Global and regional burden of stroke during 1990\u20132010: Findings from the Global Burden of Disease Study 2010","volume":"383","author":"Feigin","year":"2014","journal-title":"Lancet"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"348","DOI":"10.1016\/S1474-4422(19)30415-6","article-title":"Advances and challenges in stroke rehabilitation","volume":"19","author":"Stinear","year":"2020","journal-title":"Lancet Neurol."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1017","DOI":"10.1111\/ijs.12357","article-title":"Part I: Frequency of depression after stroke: An updated systematic review and meta-analysis of observational studies","volume":"9","author":"Hackett","year":"2014","journal-title":"Int. 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