{"id":"https://openalex.org/W4298089063","doi":"https://doi.org/10.1109/icorr55369.2022.9896415","title":"Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton","display_name":"Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton","publication_year":2022,"publication_date":"2022-07-25","ids":{"openalex":"https://openalex.org/W4298089063","doi":"https://doi.org/10.1109/icorr55369.2022.9896415","pmid":"https://pubmed.ncbi.nlm.nih.gov/36176121"},"language":"en","primary_location":{"id":"doi:10.1109/icorr55369.2022.9896415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr55369.2022.9896415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035139306","display_name":"Rhet O. Hailey","orcid":null},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rhet O. Hailey","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA","Department of Mechanical Engineering, Auburn University, Auburn, AL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA","institution_ids":["https://openalex.org/I82497590"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Auburn University, Auburn, AL, USA","institution_ids":["https://openalex.org/I82497590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010441752","display_name":"Ana C. de Oliveira","orcid":"https://orcid.org/0000-0003-1008-0238"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ana C. De Oliveira","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089568262","display_name":"Keya Ghonasgi","orcid":"https://orcid.org/0000-0002-8212-6808"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keya Ghonasgi","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076881650","display_name":"Bob Whitford","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100917","display_name":"St. David\u2019s HealthCare","ror":"https://ror.org/013rqb250","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210100917"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bob Whitford","raw_affiliation_strings":["St. David’s Rehabilitation Hospital, St. David’s HealthCare,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"St. David’s Rehabilitation Hospital, St. David’s HealthCare,Austin,TX,USA","institution_ids":["https://openalex.org/I4210100917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004416593","display_name":"Robert K. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100917","display_name":"St. David\u2019s HealthCare","ror":"https://ror.org/013rqb250","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210100917"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert K. Lee","raw_affiliation_strings":["St. David’s Rehabilitation Hospital, St. David’s HealthCare,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"St. David’s Rehabilitation Hospital, St. David’s HealthCare,Austin,TX,USA","institution_ids":["https://openalex.org/I4210100917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021493536","display_name":"Chad G. Rose","orcid":"https://orcid.org/0000-0002-8616-393X"},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chad G. Rose","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA","Department of Mechanical Engineering, Auburn University, Auburn, AL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA","institution_ids":["https://openalex.org/I82497590"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Auburn University, Auburn, AL, USA","institution_ids":["https://openalex.org/I82497590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041011551","display_name":"Ashish D. Deshpande","orcid":"https://orcid.org/0000-0002-4152-5933"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish D. Deshpande","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8477,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.860932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"2022","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8396780490875244},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.7121131420135498},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5603203177452087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45426884293556213},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.44838428497314453},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.43632039427757263},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.41580575704574585},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3684687316417694},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.3375158905982971},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2591608166694641},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.0887327790260315}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8396780490875244},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.7121131420135498},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5603203177452087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45426884293556213},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.44838428497314453},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.43632039427757263},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.41580575704574585},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3684687316417694},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.3375158905982971},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2591608166694641},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0887327790260315}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020521","descriptor_name":"Stroke","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D020521","descriptor_name":"Stroke","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D020521","descriptor_name":"Stroke","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr55369.2022.9896415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr55369.2022.9896415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:36176121","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36176121","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309904","display_name":"Auburn University","ror":"https://ror.org/02v80fc35"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W64553283","https://openalex.org/W639693478","https://openalex.org/W1590311443","https://openalex.org/W1620130020","https://openalex.org/W1971817567","https://openalex.org/W1997861712","https://openalex.org/W2025726231","https://openalex.org/W2084524231","https://openalex.org/W2104696672","https://openalex.org/W2106666697","https://openalex.org/W2110367281","https://openalex.org/W2121554556","https://openalex.org/W2164553222","https://openalex.org/W2191886813","https://openalex.org/W2267469659","https://openalex.org/W2269085526","https://openalex.org/W2613959249","https://openalex.org/W2860395327","https://openalex.org/W2894672688","https://openalex.org/W2946772588","https://openalex.org/W2966378754","https://openalex.org/W2994686963","https://openalex.org/W3003299879","https://openalex.org/W3040658517","https://openalex.org/W3081280211","https://openalex.org/W3124868308","https://openalex.org/W3138926520","https://openalex.org/W3154656604","https://openalex.org/W3161757002","https://openalex.org/W3207518955","https://openalex.org/W4234478818","https://openalex.org/W6602667062","https://openalex.org/W6666546759","https://openalex.org/W6675587662","https://openalex.org/W6754726731","https://openalex.org/W6846067080","https://openalex.org/W7065619607"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"Robots":[0],"have":[1],"been":[2],"used":[3],"to":[4,16,81,157],"offset":[5],"the":[6,18,41,48,71,95,134,174,190,198,207,219],"limb":[7],"weight":[8],"through":[9],"gravity":[10,83,166,211,222],"compensation":[11,167,182,223],"in":[12,58,79,90,126,169,184,187,197],"upper":[13],"body":[14],"rehabilitation":[15,229],"delineate":[17],"effects":[19],"of":[20,22,26,33,43,50,101,112,121,130,179,195,206,221],"loss":[21,25],"strength":[23],"and":[24,54,103,107,118,131,146,153,161,228],"dexterity,":[27],"which":[28,74],"are":[29],"two":[30,63,113,127],"common":[31],"forms":[32],"post-stroke":[34],"impairments.":[35],"In":[36],"this":[37,44],"paper,":[38],"we":[39],"explored":[40],"impact":[42],"anti-gravity":[45],"support":[46],"on":[47],"quality":[49],"movement":[51,159,226],"during":[52,224],"reaching":[53,117,199],"coordinated":[55,123,225],"arm":[56,124],"movements":[57,137],"a":[59,119,185],"pilot":[60],"study":[61],"with":[62,65,94,176,192,210],"participants":[64,202],"chronic":[66],"stroke.":[67],"The":[68,136],"subjects":[69],"donned":[70],"Harmony":[72,96],"exoskeleton":[73],"supported":[75,132],"proper":[76],"shoulder":[77],"coordination":[78,205],"addition":[80],"providing":[82],"compensation.":[84,212],"Participants":[85],"had":[86],"previously":[87],"taken":[88],"part":[89],"seven":[91],"one-hour":[92],"sessions":[93,109],"exoskeleton,":[97],"performing":[98],"six":[99,122],"sets":[100],"passive-stretching":[102],"active":[104],"exercises.":[105],"Pre-":[106],"post-training":[108],"included":[110],"assessments":[111],"separate":[114],"tasks,":[115],"planar":[116],"set":[120],"movements,":[125],"conditions,":[128],"outside":[129],"by":[133],"exoskeleton.":[135],"were":[138],"recorded":[139],"using":[140,148],"an":[141,170],"optical":[142],"motion":[143],"capture":[144],"system":[145],"analyzed":[147],"spectral":[149],"arc":[150],"length":[151],"(SPARC)":[152],"straight":[154],"line":[155],"deviation":[156],"quantify":[158],"smoothness":[160,172,188],"quality.":[162],"We":[163],"observed":[164],"that":[165],"resulted":[168,183],"increased":[171],"for":[173,189],"subject":[175,191],"high":[177],"level":[178,194],"impairment":[180,196],"whereas":[181],"reduction":[186],"low":[193],"task.":[200],"Both":[201],"demonstrated":[203],"better":[204],"shoulder-arm":[208],"joint":[209],"This":[213],"result":[214],"motivates":[215],"further":[216],"studies":[217],"into":[218],"role":[220],"training":[227],"interventions.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}