{"id":"https://openalex.org/W4412021275","doi":"https://doi.org/10.1109/cbms65348.2025.00123","title":"Robot-Assisted Upper Limb Rehabilitation System Based on Variable Admittance Control","display_name":"Robot-Assisted Upper Limb Rehabilitation System Based on Variable Admittance Control","publication_year":2025,"publication_date":"2025-06-18","ids":{"openalex":"https://openalex.org/W4412021275","doi":"https://doi.org/10.1109/cbms65348.2025.00123"},"language":"en","primary_location":{"id":"doi:10.1109/cbms65348.2025.00123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbms65348.2025.00123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 38th International Symposium on Computer-Based Medical Systems (CBMS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5118817760","display_name":"Davide Colasanto","orcid":null},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Davide Colasanto","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007445956","display_name":"Nicola Secciani","orcid":"https://orcid.org/0000-0003-4207-2451"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Secciani","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068157437","display_name":"Alessandro Bucci","orcid":"https://orcid.org/0000-0001-6787-3613"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Bucci","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079507780","display_name":"Alberto Topini","orcid":"https://orcid.org/0000-0002-0498-2238"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Topini","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079170360","display_name":"Alessandro Ridolfi","orcid":"https://orcid.org/0000-0001-8493-7594"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Ridolfi","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052182285","display_name":"Benedetto Allotta","orcid":"https://orcid.org/0000-0001-8511-1110"},"institutions":[{"id":"https://openalex.org/I45084792","display_name":"University of Florence","ror":"https://ror.org/04jr1s763","country_code":"IT","type":"education","lineage":["https://openalex.org/I45084792"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Benedetto Allotta","raw_affiliation_strings":["University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy"],"affiliations":[{"raw_affiliation_string":"University of Florence,Department of Industrial Engineering (DIEF),Florence,Italy","institution_ids":["https://openalex.org/I45084792"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5118817760"],"corresponding_institution_ids":["https://openalex.org/I45084792"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24761403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"579","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9531000256538391,"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":0.9531000256538391,"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/admittance","display_name":"Admittance","score":0.8407725095748901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6240490078926086},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5978475213050842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5023612976074219},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4831809103488922},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4562879204750061},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43206948041915894},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40817123651504517},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3897264003753662},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3461606502532959},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29625147581100464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19449850916862488},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15506422519683838},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12862876057624817},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.12168389558792114},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.10382944345474243},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09239912033081055}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.8407725095748901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6240490078926086},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5978475213050842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5023612976074219},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4831809103488922},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4562879204750061},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43206948041915894},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40817123651504517},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3897264003753662},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3461606502532959},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29625147581100464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19449850916862488},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15506422519683838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12862876057624817},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.12168389558792114},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.10382944345474243},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09239912033081055},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cbms65348.2025.00123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbms65348.2025.00123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 38th International Symposium on Computer-Based Medical Systems (CBMS)","raw_type":"proceedings-article"},{"id":"pmh:oai:flore.unifi.it:2158/1431172","is_oa":false,"landing_page_url":"https://hdl.handle.net/2158/1431172","pdf_url":null,"source":{"id":"https://openalex.org/S4306402033","display_name":"Florence Research (University of Florence)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45084792","host_organization_name":"University of Florence","host_organization_lineage":["https://openalex.org/I45084792"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1978023077","https://openalex.org/W2113585314","https://openalex.org/W2945117614","https://openalex.org/W4210387457","https://openalex.org/W4289656528","https://openalex.org/W4320155352","https://openalex.org/W4394674243","https://openalex.org/W4398544781","https://openalex.org/W4402504511","https://openalex.org/W4405754598","https://openalex.org/W4407952985"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W2363278848","https://openalex.org/W1999989966","https://openalex.org/W2021013760","https://openalex.org/W2031634947"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,12,30,112],"robotic":[4],"rehabilitation":[5,158],"system":[6,53,103],"for":[7],"upper":[8],"limb":[9],"therapy,":[10],"utilizing":[11],"manipulator":[13],"controlled":[14],"through":[15],"variable":[16],"admittance":[17],"control.":[18],"The":[19,52,135],"proposed":[20,121],"approach":[21],"allows":[22],"dynamic":[23],"modulation":[24],"of":[25,44],"the":[26,39,42,49,59,65,73,84,88,92,96,102,115,120,130,138,157],"patient's":[27,50],"mobility":[28],"within":[29,156],"predefined":[31,116],"spatial":[32],"tolerance":[33],"region,":[34],"which":[35],"is":[36,98],"set":[37],"by":[38],"therapist":[40],"at":[41],"beginning":[43],"each":[45],"session":[46],"based":[47,57,147],"on":[48,58,148],"capabilities.":[51],"adjusts":[54],"movement":[55,97,143],"constraints":[56],"applied":[60,85],"force,":[61],"promoting":[62],"guidance":[63,153],"along":[64,72],"intended":[66],"path.":[67,117],"Specifically,":[68],"it":[69],"supports":[70],"motion":[71],"path":[74],"tangent":[75],"while":[76],"increasing":[77],"resistance":[78,146],"to":[79,114,128],"deviations,":[80],"but":[81],"only":[82],"when":[83,95],"force":[86],"pushes":[87],"patient":[89,149],"away":[90],"from":[91],"trajectory.":[93],"Conversely,":[94],"directed":[99],"toward":[100],"realignment,":[101],"permits":[104],"greater":[105],"freedom":[106],"in":[107,133,141],"all":[108],"directions":[109],"that":[110],"facilitate":[111],"return":[113],"To":[118],"validate":[119],"approach,":[122],"an":[123],"experimental":[124],"study":[125],"was":[126],"conducted":[127],"analyze":[129],"system's":[131,139],"behavior":[132],"practice.":[134],"results":[136],"demonstrate":[137],"effectiveness":[140],"modulating":[142],"assistance":[144],"and":[145,154],"interaction,":[150],"ensuring":[151],"both":[152],"adaptability":[155],"process.":[159]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}