Standardized Testing and Quantitative Safety Assessment for Upper Limb Rehabilitation Robots: A Bionic Robotic Platform and Integrated Evaluation Framework.

Yuheng Jiang, Yanchen Du, Shengli Luo, Xiaolong Shu, Qingzhuo Yuan, Hongliu Yu

Abstract read

In one paragraph

Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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0citing papers in PubMed

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5 · Who and what money

Authors and funding

6 authors.

Yuheng JiangSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Yanchen DuSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Shengli LuoSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Xiaolong ShuSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Qingzhuo YuanSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Hongliu YuSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

To address the lack of standardized safety assessment tools for upper-limb rehabilitation robots, this study developed an integrated testing platform and a quantitative safety assessment framework, demonstrated with FlexoArm1 as a proof-of-concept. A 6-degree-of-freedom bionic arm equipped with multiple sensors was constructed, and a fuzzy PID control algorithm was employed to improve motion trajectory tracking accuracy. A fuzzy multi-criteria safety assessment model was established by combining the Analytic Hierarchy Process (AHP) with the entropy weight method. Experiments were conducted on the rehabilitation robot FlexoArm1. The platform reliably replaced human subjects in range-of-motion testing, interactive torque measurement (peak torque approximately 6.2 N·m in fully active mode), and spasticity simulation, with angular data showing close agreement with Inertial Measurement Unit (IMU) measurements. The assessment model assigned a comprehensive safety score of 70.23 to the tested device, successfully identifying weaknesses in fault detection capability and structural safety design. The proposed bionic-arm-based testing platform and the accompanying safety assessment methodology provide practical tools and a quantitative basis for standardizing safety evaluation and guiding design optimization of upper-limb rehabilitation robots.

Indexed as

bionic upper limbcontrol system frameworksafety assessmenttesting platformupper limb rehabilitation robot

Identifiers

PMID42505489

DOI10.3390/biomimetics11070456

PMCPMC13407074

What OpenQuestion holds

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LicenceCC BY

Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.