{"id":"https://openalex.org/W4412353239","doi":"https://doi.org/10.1109/icorr66766.2025.11062946","title":"Development of an End-Effector-Based System for Arm Support and Swing During Rehabilitation of Walking","display_name":"Development of an End-Effector-Based System for Arm Support and Swing During Rehabilitation of Walking","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4412353239","doi":"https://doi.org/10.1109/icorr66766.2025.11062946","pmid":"https://pubmed.ncbi.nlm.nih.gov/40644272"},"language":"en","primary_location":{"id":"doi:10.1109/icorr66766.2025.11062946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11062946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference On Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5027694795","display_name":"Juan Fang","orcid":"https://orcid.org/0000-0002-5137-3267"},"institutions":[{"id":"https://openalex.org/I130692619","display_name":"Bern University of Applied Sciences","ror":"https://ror.org/02bnkt322","country_code":"CH","type":"education","lineage":["https://openalex.org/I130692619"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Fang","raw_affiliation_strings":["Institute for Human Centred Engineering HuCE, School of Engineering and Computer Science, Bern University of Applied Sciences (BUAS),rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Biel,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Human Centred Engineering HuCE, School of Engineering and Computer Science, Bern University of Applied Sciences (BUAS),rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Biel,Switzerland","institution_ids":["https://openalex.org/I130692619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003393237","display_name":"Michael Haldimann","orcid":null},"institutions":[{"id":"https://openalex.org/I130692619","display_name":"Bern University of Applied Sciences","ror":"https://ror.org/02bnkt322","country_code":"CH","type":"education","lineage":["https://openalex.org/I130692619"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Haldimann","raw_affiliation_strings":["Institute for Human Centred Engineering HuCE, School of Engineering and Computer Science, Bern University of Applied Sciences (BUAS),rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Biel,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Human Centred Engineering HuCE, School of Engineering and Computer Science, Bern University of Applied Sciences (BUAS),rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Biel,Switzerland","institution_ids":["https://openalex.org/I130692619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053676944","display_name":"Robert Riener","orcid":"https://orcid.org/0000-0002-1726-2950"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert Riener","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Zurich,Sensory-Motor Systems (SMS) Lab,Department of Health Sciences and Technology,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Zurich,Sensory-Motor Systems (SMS) Lab,Department of Health Sciences and Technology,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9133,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91389599,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"2025","issue":null,"first_page":"514","last_page":"519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998000264167786,"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":0.9998000264167786,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9944999814033508,"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/swing","display_name":"Swing","score":0.7826197743415833},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.7216930389404297},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5842139720916748},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5533450245857239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4686153531074524},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34562966227531433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25152111053466797},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.22098910808563232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16676798462867737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15140113234519958},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14905306696891785},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0739736258983612}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7826197743415833},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.7216930389404297},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5842139720916748},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5533450245857239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4686153531074524},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34562966227531433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25152111053466797},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.22098910808563232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16676798462867737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15140113234519958},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14905306696891785},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0739736258983612}],"mesh":[{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","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":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","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":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr66766.2025.11062946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11062946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference On Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:40644272","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40644272","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":[{"id":"https://openalex.org/G363345008","display_name":null,"funder_award_id":"32HW-0_220453","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1614856460","https://openalex.org/W1968646971","https://openalex.org/W1969232476","https://openalex.org/W1995021275","https://openalex.org/W1998201582","https://openalex.org/W1998681803","https://openalex.org/W2008115439","https://openalex.org/W2040567487","https://openalex.org/W2063499501","https://openalex.org/W2075319018","https://openalex.org/W2085321973","https://openalex.org/W2126906108","https://openalex.org/W2142620277","https://openalex.org/W2160064159","https://openalex.org/W2234916304","https://openalex.org/W2281236967","https://openalex.org/W2395182341","https://openalex.org/W2772124221","https://openalex.org/W2785194708","https://openalex.org/W2806801289","https://openalex.org/W3001673068","https://openalex.org/W3004774748","https://openalex.org/W3020356371","https://openalex.org/W3164122386","https://openalex.org/W3169375798","https://openalex.org/W3193566900","https://openalex.org/W4224325943","https://openalex.org/W4253077363","https://openalex.org/W4386964209","https://openalex.org/W4407952724"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W2998806118","https://openalex.org/W4229574949","https://openalex.org/W2258092894"],"abstract_inverted_index":{"The":[0,203,220,238],"theory":[1],"of":[2,20,94,189,217,266],"interlimb":[3],"neural":[4,18],"coupling":[5],"suggests":[6],"that":[7,175],"arm":[8,46,57,68,74,83,138,181,236,250,263,268],"swing":[9,84,139,182,218,251],"should":[10],"be":[11,281],"integrated":[12],"into":[13],"gait":[14,27,62,253,273],"training":[15,185,254],"to":[16,53,111,126,136,152,166,227,241,247,260],"promote":[17],"control":[19,127,178],"walking.":[21,36,89],"We":[22],"previously":[23],"developed":[24,146],"a":[25,55,108,118,123,169],"mobile":[26,61,272],"trainer":[28,63,274],"which":[29,64,106],"followed":[30],"the":[31,44,60,95,113,128,148,163,176,211,215,225,234,267,271],"user":[32,226],"during":[33,77],"free":[34,82,262],"overground":[35],"However,":[37],"it":[38],"did":[39],"not":[40],"provide":[41,248],"assistance":[42],"in":[43,87,140,183,283],"synchronised":[45],"and":[47,80,117,195,259,275],"leg":[48,278],"movements.":[49],"This":[50],"work":[51],"aimed":[52],"develop":[54],"robotic":[56,235],"module":[58],"for":[59,70,147,245,252,277],"offers":[65],"stiff":[66],"vertical":[67,114],"support":[69,244],"balance,":[71,246],"provides":[72],"adaptable":[73,154,207,256],"movement":[75,97,116,158,269,279],"guidance":[76],"assisted":[78,249],"walking,":[79],"allows":[81],"as":[85],"experienced":[86],"daily":[88],"Based":[90],"on":[91],"an":[92,101,187],"analysis":[93],"wrist":[96,115,130],"from":[98,233],"normal":[99],"gait,":[100],"end-effector-based":[102],"system":[103,239],"was":[104,159],"developed,":[105],"used":[107],"screw":[109],"drive":[110,121,151],"produce":[112],"timing":[119,149],"belt":[120,150],"with":[122,186,230,255,270],"force":[124,213],"sensor":[125],"anterior-posterior":[129,208,257],"movement.":[131,156],"Position":[132],"controllers":[133],"were":[134,145],"employed":[135],"generate":[137,153],"passive":[141,184],"training.":[142],"Admittance":[143],"algorithms":[144,165,179],"horizontal":[155],"Free":[157],"produced":[160,180,206],"by":[161],"simplifying":[162],"admittance":[164,204,222],"include":[167],"only":[168],"damping":[170],"term.":[171],"Preliminary":[172],"tests":[173],"showed":[174],"position":[177],"accuracy":[188],"$\\mathbf{1.":[190],"7":[191,198],"8}$":[192],"mm":[193],"vertically":[194],"$\\mathbf{3.":[196],"1":[197],"~":[199],"m":[200],"m}$":[201],"horizontally.":[202],"controller":[205,223],"movement,":[209,258],"where":[210],"active":[212],"modified":[214],"range":[216],"amplitude.":[219],"simplified":[221],"enabled":[224],"move":[228],"freely":[229],"negligible":[231],"interference":[232],"module.":[237],"managed":[240],"offer":[242],"rigid":[243],"allow":[261],"swing.":[264],"Integration":[265],"mechanism":[276],"will":[280],"investigated":[282],"future":[284],"work.":[285]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}