{"id":"https://openalex.org/W3096747653","doi":"https://doi.org/10.3390/app10217626","title":"Motion Planning of Upper-Limb Exoskeleton Robots: A Review","display_name":"Motion Planning of Upper-Limb Exoskeleton Robots: A Review","publication_year":2020,"publication_date":"2020-10-29","ids":{"openalex":"https://openalex.org/W3096747653","doi":"https://doi.org/10.3390/app10217626","mag":"3096747653"},"language":"en","primary_location":{"id":"doi:10.3390/app10217626","doi":"https://doi.org/10.3390/app10217626","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app10217626","pdf_url":"https://www.mdpi.com/2076-3417/10/21/7626/pdf?version=1603958809","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"volume":null,"type":"review","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2076-3417/10/21/7626/pdf?version=1603958809","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014664743","display_name":"Clautilde Nguiadem","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2802351361","display_name":"Centre Hospitalier Universitaire Sainte-Justine","ror":"https://ror.org/01gv74p78","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801902503","https://openalex.org/I2802351361","https://openalex.org/I4210139015","https://openalex.org/I4405279980"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Clautilde Nguiadem","raw_affiliation_strings":["CRME\u2014Research Center, Office GR-123, 5200, East B\u00e9langer Street, Montr\u00e9al, QC H1T 1C9, Canada","Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada","Technopole in Pediatric Rehabilitation of Ste-Justine UHC, Montr\u00e9al, QC H3T 1C5, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRME\u2014Research Center, Office GR-123, 5200, East B\u00e9langer Street, Montr\u00e9al, QC H1T 1C9, Canada","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Technopole in Pediatric Rehabilitation of Ste-Justine UHC, Montr\u00e9al, QC H3T 1C5, Canada","institution_ids":["https://openalex.org/I2802351361"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030155623","display_name":"Maxime Raison","orcid":"https://orcid.org/0000-0002-0311-456X","observed_orcids":["https://orcid.org/0000-0002-0311-456X"]},"institutions":[{"id":"https://openalex.org/I2802351361","display_name":"Centre Hospitalier Universitaire Sainte-Justine","ror":"https://ror.org/01gv74p78","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I2801902503","https://openalex.org/I2802351361","https://openalex.org/I4210139015","https://openalex.org/I4405279980"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Maxime Raison","raw_affiliation_strings":["Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada","Technopole in Pediatric Rehabilitation of Ste-Justine UHC, Montr\u00e9al, QC H3T 1C5, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Technopole in Pediatric Rehabilitation of Ste-Justine UHC, Montr\u00e9al, QC H3T 1C5, Canada","institution_ids":["https://openalex.org/I2802351361"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070138703","display_name":"Sofiane Achiche","orcid":"https://orcid.org/0000-0002-7730-0701","observed_orcids":["https://orcid.org/0000-0002-7730-0701"]},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sofiane Achiche","raw_affiliation_strings":["Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montr\u00e9al, QC H3T 1J4, Canada","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014664743"],"corresponding_institution_ids":["https://openalex.org/I2802351361","https://openalex.org/I45683168"],"apc_list":{"value":1800,"currency":"CHF","value_usd":1901},"apc_paid":{"value":1800,"currency":"CHF","value_usd":1901},"fwci":0.6119,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.63535912,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":"21","first_page":"7626","last_page":"7626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/upper-limb-exoskeleton","display_name":"upper limb exoskeleton","score":0.906000018119812},{"id":"https://openalex.org/keywords/trajectory-planning","display_name":"trajectory planning","score":0.890999972820282},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.9829999804496765},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.9850000143051147},{"id":"https://openalex.org/keywords/polynomial-interpolation","display_name":"polynomial interpolation","score":0.7490000128746033},{"id":"https://openalex.org/keywords/minimum-jerk-trajectory","display_name":"minimum jerk trajectory","score":0.8970000147819519},{"id":"https://openalex.org/keywords/imitation-learning","display_name":"imitation learning","score":0.9330000281333923},{"id":"https://openalex.org/keywords/dynamic-motion-primitives","display_name":"dynamic motion primitives","score":0.8650000095367432},{"id":"https://openalex.org/keywords/kinematic-redundancy","display_name":"kinematic redundancy","score":0.7350000143051147},{"id":"https://openalex.org/keywords/assistive-robots","display_name":"assistive robots","score":0.6019999980926514},{"id":"https://openalex.org/keywords/rehabilitation-robots","display_name":"rehabilitation robots","score":0.7369999885559082},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"trajectory optimization","score":0.5609999895095825},{"id":"https://openalex.org/keywords/neural-network","display_name":"artificial neural networks","score":0.5730000138282776},{"id":"https://openalex.org/keywords/hidden-markov-models","display_name":"hidden Markov models","score":0.9010000228881836},{"id":"https://openalex.org/keywords/gaussian-mixture-model","display_name":"Gaussian mixture model","score":0.953000009059906}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6328722238540649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6306409239768982},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5907294154167175},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5489158034324646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.510938823223114},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4562053680419922},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.4405832588672638},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.43611985445022583},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42022615671157837},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4150370657444},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3877057433128357},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2434954047203064},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.11527189612388611},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/app10217626","doi":"https://doi.org/10.3390/app10217626","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app10217626","pdf_url":"https://www.mdpi.com/2076-3417/10/21/7626/pdf?version=1603958809","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},{"id":"pmh:oai:publications.polymtl.ca:9364","doi":null,"is_oa":true,"landing_page_url":"https://publications.polymtl.ca/9364/","pdf_url":"https://publications.polymtl.ca/9364/1/2020_Nguiadem_Motion_planning_upperlimb_exoskeleton_robots.pdf","source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Nguiadem, C., Raison, M., & Achiche, S. (2020). Motion planning of upper-limb exoskeleton robots : a review. Applied Sciences, 10(21), 21 pages.","raw_type":"http://purl.org/coar/resource_type/c_6501"},{"id":"pmh:oai:doaj.org/article:a6bc4cb950ea49b3af350d6a33a4977d","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/a6bc4cb950ea49b3af350d6a33a4977d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Applied Sciences, Vol 10, Iss 21, p 7626 (2020)","raw_type":"article"},{"id":"pmh:oai:publications.polymtl.ca:46851","doi":null,"is_oa":false,"landing_page_url":"https://publications.polymtl.ca/46851/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"}],"best_oa_location":{"id":"doi:10.3390/app10217626","doi":"https://doi.org/10.3390/app10217626","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app10217626","pdf_url":"https://www.mdpi.com/2076-3417/10/21/7626/pdf?version=1603958809","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.5683000087738037}],"sustainable_development_goals_aurora":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"study_designs":[{"display_name":"Systematic Review","id":"https://openalex.org/study-designs/systematic-review"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3096747653.pdf","grobid_xml":"https://content.openalex.org/works/W3096747653.grobid-xml"},"referenced_works_count":74,"referenced_works":["https://openalex.org/W159391857","https://openalex.org/W623211797","https://openalex.org/W1550726119","https://openalex.org/W1669599097","https://openalex.org/W1970600525","https://openalex.org/W1989001903","https://openalex.org/W2001737341","https://openalex.org/W2002206657","https://openalex.org/W2011938221","https://openalex.org/W2015109675","https://openalex.org/W2024390517","https://openalex.org/W2040316168","https://openalex.org/W2044838214","https://openalex.org/W2050269508","https://openalex.org/W2054326469","https://openalex.org/W2067088732","https://openalex.org/W2067977053","https://openalex.org/W2069438591","https://openalex.org/W2073801600","https://openalex.org/W2075804535","https://openalex.org/W2079137037","https://openalex.org/W2083885390","https://openalex.org/W2097883698","https://openalex.org/W2099297971","https://openalex.org/W2099615186","https://openalex.org/W2119424064","https://openalex.org/W2150041682","https://openalex.org/W2162218551","https://openalex.org/W2166796640","https://openalex.org/W2261736307","https://openalex.org/W2318179897","https://openalex.org/W2320239694","https://openalex.org/W2325621737","https://openalex.org/W2483900112","https://openalex.org/W2494373127","https://openalex.org/W2514387214","https://openalex.org/W2541331661","https://openalex.org/W2619391573","https://openalex.org/W2734547586","https://openalex.org/W2743048413","https://openalex.org/W2743759810","https://openalex.org/W2744650406","https://openalex.org/W2765254332","https://openalex.org/W2765474257","https://openalex.org/W2783543655","https://openalex.org/W2789738248","https://openalex.org/W2794369738","https://openalex.org/W2801468317","https://openalex.org/W2804172248","https://openalex.org/W2811351706","https://openalex.org/W2888838050","https://openalex.org/W2890575017","https://openalex.org/W2893037837","https://openalex.org/W2942867704","https://openalex.org/W2950843852","https://openalex.org/W2956637127","https://openalex.org/W2965313799","https://openalex.org/W2966044956","https://openalex.org/W2976330188","https://openalex.org/W2978427857","https://openalex.org/W2979347123","https://openalex.org/W2989739089","https://openalex.org/W3012542762","https://openalex.org/W3015487996","https://openalex.org/W3027465831","https://openalex.org/W3027596891","https://openalex.org/W3033883428","https://openalex.org/W3036270922","https://openalex.org/W3038440605","https://openalex.org/W3072456739","https://openalex.org/W4211063177","https://openalex.org/W4236722269","https://openalex.org/W4247031147","https://openalex.org/W7005500783"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4388873644","https://openalex.org/W2765907659","https://openalex.org/W4387399000"],"abstract_inverted_index":{"(1)":[0],"Background:":[1],"Motion":[2],"planning":[3,31,49,254,389],"is":[4,32,244],"an":[5],"important":[6],"part":[7],"of":[8,24,29,47,59,92,143,157,235,258,262,279,312,329,346,354,363,366,407],"exoskeleton":[9,51,231],"control":[10],"that":[11],"improves":[12],"the":[13,22,35,39,45,57,66,81,125,227,238,256,260,277,303,310,320,327,343,347,351,355,360,369,375,405],"wearer\u2019s":[14],"safety":[15],"and":[16,96,104,111,118,135,169,181,184,203,214,246,282,284,300,302,315,350,380,390],"comfort.":[17],"However,":[18],"its":[19],"usage":[20,267],"introduces":[21],"problem":[23],"trajectory":[25,30,48,239,296,388],"planning.":[26,74],"The":[27,98,241],"objective":[28],"to":[33,55,102,159,225,250,265,275,332,368,373],"generate":[34],"reference":[36],"input":[37],"for":[38,50,229,336],"motion-control":[40],"system.":[41],"This":[42,393],"review":[43,63,242],"explores":[44],"methods":[46,158,176,205,221,307,317,401],"control.":[52,392],"In":[53,287],"order":[54],"reduce":[56],"number":[58,362],"surveyed":[60],"papers,":[61],"this":[62,288,408],"focuses":[64],"on":[65,165,188,200,207,309,319,386],"upper":[67],"limbs,":[68],"which":[69,358],"require":[70],"refined":[71],"three-dimensional":[72],"motion":[73,167,216],"(2)":[75],"Methods:":[76],"A":[77,141],"systematic":[78],"search":[79,99],"covering":[80],"last":[82],"20":[83],"years":[84],"was":[85,101],"conducted":[86],"in":[87,404],"Ei":[88],"Compendex,":[89],"Inspect-IET,":[90],"Web":[91],"Science,":[93],"PubMed,":[94],"ProQuest,":[95],"Science-Direct.":[97],"strategy":[100],"use":[103],"combine":[105],"terms":[106],"\u201ctrajectory":[107],"planning\u201d,":[108],"\u201cupper":[109,131],"limb\u201d,":[110],"\u201dexoskeleton\u201d":[112],"as":[113,178,196],"high-level":[114],"keywords.":[115],"\u201cTrajectory":[116],"planning\u201d":[117,120],"\u201cmotion":[119],"were":[121,147,150,371,402],"also":[122,271,291],"combined":[123],"with":[124,295],"following":[126],"keywords:":[127],"\u201crehabilitation\u201d,":[128],"\u201chumanlike":[129],"motion\u201c,":[130],"extremity\u201c,":[132],"\u201cinverse":[133],"kinematic\u201c,":[134],"\u201clearning":[136,189],"machine":[137],"\u201c.":[138],"(3)":[139],"Results:":[140],"total":[142],"67":[144],"relevant":[145],"papers":[146],"discovered.":[148],"Results":[149],"then":[151],"classified":[152],"into":[153],"two":[154,339],"main":[155],"categories":[156],"plan":[160,226,237],"trajectory:":[161],"(i)":[162],"Approaches":[163],"based":[164,187,199,206,308],"Cartesian":[166],"planning,":[168],"inverse":[170],"kinematics":[171],"using":[172,192],"polynomial-interpolation":[173],"or":[174,324],"optimization-based":[175],"such":[177,195],"minimum-jerk,":[179],"minimum-torque-change,":[180],"inertia-like":[182],"models;":[183],"(ii)":[185],"approaches":[186],"by":[190],"demonstration\u201d":[191],"machine-learning":[193],"techniques":[194],"supervised":[197],"learning":[198,204],"neural":[201],"networks,":[202],"hidden":[208],"Markov":[209],"models,":[210,213],"Gaussian":[211],"mixture":[212],"dynamic":[215],"primitives.":[217],"(4)":[218],"Conclusions:":[219],"Various":[220],"have":[222],"been":[223],"proposed":[224],"trajectories":[228],"upper-limb":[230],"robots,":[232],"but":[233],"most":[234],"them":[236],"offline.":[240],"approach":[243],"general":[245,340],"could":[247],"be":[248,395],"extended":[249],"lower":[251],"limbs.":[252],"Trajectory":[253],"has":[255],"advantage":[257],"extending":[259],"applicability":[261],"therapy":[263,285],"robots":[264],"home":[266],"(assistive":[268],"exoskeletons);":[269],"it":[270,273],"makes":[272],"possible":[274],"mitigate":[276],"shortages":[278],"medical":[280],"caregivers":[281],"therapists,":[283],"costs.":[286],"paper,":[289],"we":[290],"discuss":[292],"challenges":[293],"associated":[294],"planning:":[297],"kinematic":[298,334,376],"redundancy":[299,335],"incompatibility,":[301],"trajectory-optimization":[304],"problem.":[305],"Commonly,":[306],"computation":[311],"swivel":[313],"angles":[314],"other":[316],"rely":[318],"relationship":[321],"(e.g.,":[322],"coordinated":[323],"synergistic)":[325],"between":[326,378],"degrees":[328,365],"freedom":[330,367],"used":[331],"resolve":[333],"exoskeletons.":[337],"Moreover,":[338],"solutions,":[341],"namely,":[342],"self-tracing":[344],"configuration":[345,353],"joint":[348,356],"axis":[349],"alignment-free":[352],"axis,":[357],"add":[359],"appropriate":[361],"extra":[364],"mechanism,":[370],"employed":[372],"improve":[374],"incompatibility":[377],"human":[379],"exoskeleton.":[381],"Future":[382],"work":[383],"will":[384,394],"focus":[385],"online":[387,400],"optimal":[391],"done":[396],"because":[397],"very":[398],"few":[399],"found":[403],"scope":[406],"study.":[409]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4}],"updated_date":"2026-10-18T09:31:52.927876","created_date":"2025-10-10T00:00:00"}