{"id":"https://openalex.org/W4412346771","doi":"https://doi.org/10.1109/icorr66766.2025.11063178","title":"Mechanical Development and Preliminary Control Results of a Cable-Driven Robotic Platform for Whole-Body Rehabilitation","display_name":"Mechanical Development and Preliminary Control Results of a Cable-Driven Robotic Platform for Whole-Body Rehabilitation","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4412346771","doi":"https://doi.org/10.1109/icorr66766.2025.11063178","pmid":"https://pubmed.ncbi.nlm.nih.gov/40644243"},"language":"en","primary_location":{"id":"doi:10.1109/icorr66766.2025.11063178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063178","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":["HuCE Institute for Human Centred Engineering, School of Engineering and Computer Science, Bern University of Applied Sciences,rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Postfach, Biel,Switzerland,2501"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuCE Institute for Human Centred Engineering, School of Engineering and Computer Science, Bern University of Applied Sciences,rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Postfach, Biel,Switzerland,2501","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":["HuCE Institute for Human Centred Engineering, School of Engineering and Computer Science, Bern University of Applied Sciences,rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Postfach, Biel,Switzerland,2501"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HuCE Institute for Human Centred Engineering, School of Engineering and Computer Science, Bern University of Applied Sciences,rehaLab - The Laboratory for Rehabilitation Engineering,Department of Mechatronics and Systems Engineering,Postfach, Biel,Switzerland,2501","institution_ids":["https://openalex.org/I130692619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041838001","display_name":"Niklaus Stocker","orcid":null},"institutions":[{"id":"https://openalex.org/I2800220363","display_name":"The Open Group","ror":"https://ror.org/01j5zzr31","country_code":"GB","type":"other","lineage":["https://openalex.org/I2800220363"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Niklaus Stocker","raw_affiliation_strings":["Liberty MedTech Sagl, C/O Open Lab Group SA,Ticino,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Liberty MedTech Sagl, C/O Open Lab Group SA,Ticino,Switzerland","institution_ids":["https://openalex.org/I2800220363"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20986499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2025","issue":null,"first_page":"507","last_page":"513"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9715999960899353,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9345999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6591005325317383},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.5263838768005371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47527995705604553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4614800810813904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4606037735939026},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4224127233028412},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3950589597225189},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35459282994270325},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3355485796928406},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33287373185157776},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3292381763458252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17260587215423584},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.14954447746276855},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13150247931480408}],"concepts":[{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6591005325317383},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.5263838768005371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47527995705604553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4614800810813904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4606037735939026},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4224127233028412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3950589597225189},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35459282994270325},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3355485796928406},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33287373185157776},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3292381763458252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17260587215423584},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.14954447746276855},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13150247931480408}],"mesh":[{"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":"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":"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":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011187","descriptor_name":"Posture","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011187","descriptor_name":"Posture","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","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":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr66766.2025.11063178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063178","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:40644243","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40644243","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1536806151","https://openalex.org/W1972239908","https://openalex.org/W1995021275","https://openalex.org/W2078594447","https://openalex.org/W2081231263","https://openalex.org/W2100514499","https://openalex.org/W2121227960","https://openalex.org/W2126657406","https://openalex.org/W2132005178","https://openalex.org/W2534710317","https://openalex.org/W2743921961","https://openalex.org/W2901428764","https://openalex.org/W2905770187","https://openalex.org/W2945821302","https://openalex.org/W3046057109","https://openalex.org/W3164122386","https://openalex.org/W3207698656","https://openalex.org/W3212586409","https://openalex.org/W4210813864","https://openalex.org/W4211003818","https://openalex.org/W4298087631","https://openalex.org/W4385589061","https://openalex.org/W4407952564"],"related_works":["https://openalex.org/W2096429409","https://openalex.org/W3094796826","https://openalex.org/W2146355982","https://openalex.org/W4410227912","https://openalex.org/W2045521318","https://openalex.org/W4247684859","https://openalex.org/W3145103137","https://openalex.org/W1912506680","https://openalex.org/W2325967894","https://openalex.org/W2501397819"],"abstract_inverted_index":{"To":[0],"promote":[1],"whole-body":[2,38],"rehabilitation":[3,39],"in":[4,43,154,177],"the":[5,41,74,81,89,145,207,211],"early":[6],"post-injury":[7],"phase,":[8],"a":[9,31,44,68,77,114,150,155,173,178],"system":[10],"is":[11,73],"desirable":[12],"to":[13,29,48,87,93,148],"provide":[14,37],"user":[15,42,220],"transfer,":[16,221],"automatic":[17,222,241],"posture":[18,91,223,242],"change":[19,88,224,243],"and":[20,47,65,92,111,130,172,203,225,237,244],"therapy":[21],"for":[22,40,52,76,100,240],"various":[23],"arm-leg":[24,95,228],"movements.":[25,57],"This":[26],"work":[27,85,232],"aimed":[28],"present":[30,234],"cable-driven":[32,60,213],"robotic":[33,69,214],"platform":[34,215],"that":[35,210],"can":[36],"lying":[45],"position":[46,122,131,157,164,180,190],"demonstrate":[49],"preliminary":[50,204],"results":[51],"generation":[53],"of":[54,102,141],"3D":[55,151,227],"leg":[56,105,152,175],"Seventeen":[58],"compact":[59],"actuators":[61],"(CDAs)":[62],"were":[63,107],"designed":[64],"mounted":[66],"on":[67],"frame.":[70],"One":[71],"CDA":[72,115],"drive":[75],"lift":[78],"mechanism,":[79],"while":[80],"other":[82],"16":[83],"CDAs":[84,143],"jointly":[86],"user's":[90],"produce":[94,149],"movement":[96,153,176,229,246],"therapy.":[97,230],"The":[98],"kinematics":[99],"production":[101],"two":[103],"representative":[104],"movements":[106],"analysed.":[108],"Using":[109],"PID":[110],"impedance":[112],"algorithms,":[113],"alone":[116],"provided":[117],"user-defined":[118],"resistive":[119],"training":[120],"with":[121],"guidance":[123],"(force":[124],"error:":[125,132,160,165,183,191],"$\\mathbf{3.":[126],"5":[127],"~":[128,136,169,187,195],"N}$":[129],"$\\mathbf{2":[133],"1.":[134],"4":[135],"m":[137,170,196],"m}$).":[138,197],"Preliminary":[139],"control":[140,205,238],"six":[142],"demonstrated":[144],"system's":[146],"ability":[147],"back-lying":[156],"(mean":[158,181],"force":[159,182],"12.8":[161],"N,":[162],"mean":[163,189],"$\\mathbf{5":[166,192],"2.":[167],"1":[168],"m}$)":[171],"walking-like":[174],"side-lying":[179],"$\\mathbf{1":[184],"3.":[185],"7":[186],"N}$,":[188],"7.":[193],"0":[194],"Through":[198],"concept":[199],"description,":[200],"prototype":[201],"development,":[202],"testing,":[206],"study":[208],"showed":[209],"proposed":[212],"could":[216],"potentially":[217],"offer":[218],"convenient":[219],"synchronised":[226],"Future":[231],"will":[233],"kinetic":[235],"analysis":[236],"strategies":[239],"arm":[245],"assistance.":[247]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}