{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T13:58:06Z","timestamp":1781272686317,"version":"3.54.1"},"reference-count":22,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T00:00:00Z","timestamp":1761782400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"R&D program for rehabilitation research and development funded by the National Rehabilitation Center, Ministry of Health and Welfare, Republic of Korea","award":["#NRCTR-EX23007"],"award-info":[{"award-number":["#NRCTR-EX23007"]}]},{"DOI":"10.13039\/501100013173","name":"GRRC program of Gyeonggi province","doi-asserted-by":"publisher","award":["GRRC-Gachon2023(B01)"],"award-info":[{"award-number":["GRRC-Gachon2023(B01)"]}],"id":[{"id":"10.13039\/501100013173","id-type":"DOI","asserted-by":"publisher"}]},{"name":"TIPS program","award":["RS-2024-00437535"],"award-info":[{"award-number":["RS-2024-00437535"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Shoulder disorders, including frozen shoulder resulting from stroke-induced hemiplegia, significantly reduce a patient\u2019s ability to perform activities of daily living, thereby necessitating repeated rehabilitation. Consequently, extensive research has been conducted on rehabilitation robots to assist in upper-limb motor recovery. The shoulder moves according to the scapulohumeral rhythm. Considering the biomechanical characteristics of the shoulder joint, the rehabilitation robot was designed to replicate a similar kinematic environment using actuators and linkages that emulate the structures of the upper arm, shoulder, and clavicle. To ensure precise operation, the kinematic accuracy of the robot was pre-evaluated. Kinematic analyses were conducted using MATLAB, and the results were compared with coordinate data from the mechanical design to evaluate positional accuracy. In addition, the convergence and accuracy of joint-angle estimation for target positions were analyzed. The forward kinematic analysis revealed that the average positional error between the measured and target coordinates ranged from 0.5% to 2.8%, with the Base Motor\u2013Back Motor segment exhibiting the highest error (2.8%). The inverse kinematic analysis demonstrated stable convergence to the target positions through iterative computations using the Gauss\u2013Newton method, confirming that the actual motion could be accurately reproduced within the designed range of motion.<\/jats:p>","DOI":"10.3390\/s25216644","type":"journal-article","created":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T05:28:43Z","timestamp":1761888523000},"page":"6644","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Mechanical Analysis for Active Movement of Upper Limb Rehabilitation Robots to Alleviate Shoulder Pain in Patients with Stroke Hemiplegia and Frozen Shoulder"],"prefix":"10.3390","volume":"25","author":[{"given":"Seok Jin","family":"Bang","sequence":"first","affiliation":[{"name":"KMAIN Co., Ltd., Seongnam 13517, Republic of Korea"},{"name":"Medical Devices R&D Center, Gachon University Gil Medical Center, Incheon 21565, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jung-Soo","family":"Lee","sequence":"additional","affiliation":[{"name":"Medical Devices R&D Center, Gachon University Gil Medical Center, Incheon 21565, Republic of Korea"},{"name":"Department of Biomedical Engineering, Gachon University College of Medicine, Incheon 21565, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong Hyeon","family":"Song","sequence":"additional","affiliation":[{"name":"Medical Devices R&D Center, Gachon University Gil Medical Center, Incheon 21565, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Seung Yeob","family":"Ryu","sequence":"additional","affiliation":[{"name":"Biohealth & Medical Engineering Major, Gachon University, Seongnam 13120, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9714-6038","authenticated-orcid":false,"given":"Kwang Gi","family":"Kim","sequence":"additional","affiliation":[{"name":"Medical Devices R&D Center, Gachon University Gil Medical Center, Incheon 21565, Republic of Korea"},{"name":"Gachon Biomedical & Convergence Institute, Gachon University Gil Medical Center, Incheon 21565, Republic of Korea"},{"name":"Department of Health Sciences and Technology, Gachon Advanced Institute for Health & Sciences and Technology (GAIHST), Seongnam 13120, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,10,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"687","DOI":"10.5124\/jkma.2022.65.11.687","article-title":"Epidemiology and etiology of shoulder pain based on health statistics data from Healthcare Bigdata Hub in Korea","volume":"65","author":"Jung","year":"2022","journal-title":"J. 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