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Quantitative results found no significant differences in several joint motions (p > 0.05), with differences limited to sagittal hyperextension and internal rotation (p \u003C 0.05), supporting objective alignment with natural joint axes.",{"@graph":14,"@context":73},[15,34,56],{"@type":16,"itemListElement":17},"BreadcrumbList",[18,23,27,31],{"item":19,"name":20,"@type":21,"position":22},"https://docshare.wps.com","Home","ListItem",1,{"item":24,"name":25,"@type":21,"position":26},"https://docshare.wps.com/document/","Document",2,{"item":28,"name":29,"@type":21,"position":30},"https://docshare.wps.com/document/healthcare/","Healthcare",3,{"item":32,"name":10,"@type":21,"position":33},"https://docshare.wps.com/document/advancing-precision-rehabilitation-through-a-sensor-based-6-dof-robotic-exoskeleton-clinical-validation-and-ergonomic-assessment/463557/",4,{"url":32,"name":10,"@type":35,"image":36,"author":41,"headline":10,"publisher":44,"fileFormat":47,"inLanguage":8,"description":12,"dateModified":48,"datePublished":49,"encodingFormat":47,"isAccessibleForFree":50,"interactionStatistic":51},"DigitalDocument",{"url":37,"@type":38,"width":39,"height":40},"https://docshare.wps.com/thumbnails/advancing-precision-rehabilitation-through-a-sensor-based-6-dof-robotic-exoskeleton-clinical-validation-and-ergonomic-assessment/463557.png","ImageObject",300,407,{"name":42,"@type":43},"kopisore","Person",{"url":19,"name":45,"@type":46},"DocShare","Organization","application/pdf","2026-11-04","2026-09-30",true,{"@type":52,"interactionType":53,"userInteractionCount":55},"InteractionCounter",{"@type":54},"ViewAction",6,{"@type":57,"mainEntity":58},"FAQPage",[59,65,69],{"name":60,"@type":61,"acceptedAnswer":62},"What problem does the study address in upper-extremity rehabilitation?","Question",{"text":63,"@type":64},"Conventional therapies often lack accurate motion tracking. 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Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.  \n1 Department of Biomedical Engineering, Faculty of Engineering and Natural Sciences, Acibadem Mehmet Ali Aydinlar University, Istanbul 34752, Turkey  \n2 Department of Biomedical Engineering, Graduate School of Natural and Applied Sciences, Acibadem Mehmet Ali Aydinlar University, Istanbul 34752, Turkey; [begum.yalcin@acibadem.edu.tr](begum.yalcin@acibadem.edu.tr)  \n3 Faculty of Engineering, Natural Sciences of Sabancı University, Istanbul 34956, Turkey; [aergin@alumni.sabanciuniv.edu](aergin@alumni.sabanciuniv.edu) (M.A.E.); [gokaycoruhlu@alumni.sabanciuniv.edu](gokaycoruhlu@alumni.sabanciuniv.edu) (G.C.); [myalcin@alumni.sabanciuniv.edu](myalcin@alumni.sabanciuniv.edu) (M.Y.); [volkan.patoglu@sabanciuniv.edu](volkan.patoglu@sabanciuniv.edu) (V.P.)  \n4 Department of Physical Medicine and Rehabilitation, School of Medicine, Acibadem Mehmet Ali Aydinlar University, Istanbul 34752, Turkey; [zeynep.guven@acibadem.edu.tr](zeynep.guven@acibadem.edu.tr)  \n* [Correspondence: hande.argunsah@acibadem.edu.tr](Correspondence: hande.argunsah@acibadem.edu.tr)  \nHighlights  \nWhat are the main findings?  \n• The self-aligning 6-DoF robotic exoskeleton accurately replicated upper-extremity kinematics across passive and active modes, confirming reliable motion tracking and ergonomic alignment.  \n• Clinical pilot testing in patients with shoulder impairments demonstrated high usability, comfort, and repeatability across all movement tasks.  \nWhat are the implications of the main findings?  \n• These results validate the feasibility of sensor-based robotic systems for objective assessment and personalized upper-limb rehabilitation.  \n• The study supports the integration of self-aligning exoskeletons into precision rehabilitation frameworks to enhance patient recovery and clinical decision-making.  \nAbstract  \nEffective upper-extremity rehabilitation requires intensive and precise movement training, yet conventional therapies lack accurate motion tracking. Robotic exoskeletons address this limitation but are often hindered by ergonomic misalignment and limited adaptability. The AssistOn-Arm, a novel self-aligning exoskeleton, integrates ergonomic design and back-drivable actuation to enhance comfort and facilitate natural user interaction. This study aimed to assess the usability and ergonomics of the device in healthy participants and to conduct a pilot clinical evaluation in individuals with upper-extremity impairments. Thirty healthy participants and twelve patients with shoulder impairments performed predefined tasks under participant-active and device-active conditions. Kinematic data captured concurrently with AssistOn-Arm and Xsens MVN demonstrated strong agreement between conditions. Quantitative analysis revealed no significant differences (p > 0.05) in flexion, elevation, abduction–adduction, and external rotation, indicating reliable alignment with natural joint axes. Significant differences (p \u003C 0.05) were observed only in sagittal hyperextension and internal rotation, reflecting device mechanical constraints. The  \nstudy confirms the clinical feasibility of AssistOn-Arm as a sensor-driven, self-aligning exoskeleton that bridges engineering innovation and precision rehabilitation, paving the way for its integration into clinical practice.  \nKeywords: sensor-based rehabilitation; upper-extremity exoskele","cbCaiotV8PZ2zL4T","https://ap.wps.com/l/cbCaiotV8PZ2zL4T","pdf",654898,12,"English","# Highlights\n## Main findings\n## Implications of main findings\n# Abstract\n# Keywords\n# 1. Introduction","[{\"question\":\"What problem does the study address in upper-extremity rehabilitation?\",\"answer\":\"Conventional therapies often lack accurate motion tracking. Robotic exoskeletons can help, but ergonomic misalignment and limited adaptability have been obstacles.\"},{\"question\":\"How was the AssistOn-Arm evaluated in the study?\",\"answer\":\"Thirty healthy participants and twelve patients with shoulder impairments performed predefined tasks under participant-active and device-active conditions.\"},{\"question\":\"What did the kinematic comparison show between AssistOn-Arm and Xsens MVN?\",\"answer\":\"Kinematic data captured concurrently demonstrated strong agreement between the two conditions, supporting reliable alignment with natural joint axes.\"}]","Advancing Precision Rehabilitation Through a Sensor-Based 6-DoF Robotic Exoskeleton - Clinical Validation and Ergonomic Assessment | PDF",1790766761]