{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:35:34Z","timestamp":1760232934323,"version":"build-2065373602"},"reference-count":46,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2022,12,6]],"date-time":"2022-12-06T00:00:00Z","timestamp":1670284800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"national funds FCT\/MCTES (PIDDAC) to CeDRI","award":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"],"award-info":[{"award-number":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"]}]},{"DOI":"10.13039\/501100001871","name":"SusTEC","doi-asserted-by":"publisher","award":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"],"award-info":[{"award-number":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"FCT PhD Grant Reference","doi-asserted-by":"publisher","award":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"],"award-info":[{"award-number":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"name":"SmartHealth \u2014Intelig\u00eancia Artificial para Cuidados de Sa\u00fade Personalizados ao Longo da Vida","award":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"],"award-info":[{"award-number":["UIDB\/05757\/2020","UIDP\/05757\/2020","LA\/P\/0007\/2021","SFRH\/BD\/08598\/2020","NORTE-01-0145-FEDER-000045"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Rehabilitation robotics aims to facilitate the rehabilitation procedure for patients and physical therapists. This field has a relatively long history dating back to the 1990s; however, their implementation and the standardisation of their application in the medical field does not follow the same pace, mainly due to their complexity of reproduction and the need for their approval by the authorities. This paper aims to describe architecture that can be applied to industrial robots and promote their application in healthcare ecosystems. The control of the robotic arm is performed using the software called SmartHealth, offering a 2 Degree of Autonomy (DOA). Data are gathered through electromyography (EMG) and force sensors at a frequency of 45 Hz. It also proves the capabilities of such small robots in performing such medical procedures. Four exercises focused on shoulder rehabilitation (passive, restricted active-assisted, free active-assisted and Activities of Daily Living (ADL)) were carried out and confirmed the viability of the proposed architecture and the potential of small robots (i.e., the UR3) in rehabilitation procedure accomplishment. This robot can perform the majority of the default exercises in addition to ADLs but, nevertheless, their limits were also uncovered, mainly due to their limited Range of Motion (ROM) and cost.<\/jats:p>","DOI":"10.3390\/s22239532","type":"journal-article","created":{"date-parts":[[2022,12,7]],"date-time":"2022-12-07T04:38:54Z","timestamp":1670387934000},"page":"9532","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Robot-Assisted Rehabilitation Architecture Supported by a Distributed Data Acquisition System"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9190-6865","authenticated-orcid":false,"given":"Arezki Abderrahim","family":"Chellal","sequence":"first","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Engineering Department, School of Sciences and Technology, UTAD, 5000-801 Vila Real, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"INESC TEC\u2014INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5499-1730","authenticated-orcid":false,"given":"Jos\u00e9","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"INESC TEC\u2014INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9542-4460","authenticated-orcid":false,"given":"Florbela P.","family":"Fernandes","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7915-0391","authenticated-orcid":false,"given":"F\u00e1tima","family":"Pacheco","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1421-8006","authenticated-orcid":false,"given":"Fernando","family":"Monteiro","sequence":"additional","affiliation":[{"name":"Research Centre in Digitalization and Intelligent Robotics CeDRI, Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, Portugal"},{"name":"Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, 5300-252 Bragan\u00e7a, 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