Torque Sensor Research Articles

Correlation between run-up speed and throwing distance of elite javelin athletes

<p>目的：本研究探討台灣優秀標槍選手助跑速度與投擲距離之相關性。方法：8位國內優秀標槍選手 (身高：176.2 ± 4.5公分，體重：87.7 ± 10.7公斤，年齡：21.1 ± 3.7歲，平均投擲距離：68.8 ± 6.9公尺)，本研究採用實際比賽進行數據收集，本研究使用高速攝影機 (60Hz) 紀錄投擲標槍助跑過程，透過影像分析獲得助跑距離及時間。本研究採用相依樣本t檢定比較預賽及決賽的助跑速度及投擲表現及使用皮爾森積差相關分析比較助跑速度及投擲表現之相關性，顯著水準訂為 α = .05。結果：研究結果發現，預賽與決賽的投擲表現顯著大於決賽有顯著差異 (p < .05)，但預賽與決賽的助跑速度無顯著差異 (p > .05)，另外，預賽與決賽的投擲距離與助跑速度相關性沒有顯著差異。結論：當助跑速度越快不會增加投擲距離。選手可能會有個別最佳的助跑速度。</p><p>The standing throw with run-up is the best approach to evaluate the performance of energy transfer and the efficiency of throwing motions for handball players. Purpose: This research aims at analyzing the usage of the standing throw with run-up among the handball players in Taiwan. The roles of body kinematics, strength of core muscles and standing balance of the drive leg played in the standing throw with run-up are also discussed. Methods: Nine Division I handball players from college went through a series of tests. The motions and the speed of the handball throwing were detected by a 3D electromagnetic motion analysis system and a sports radar gun, respectively. The maximum isometric muscle strength of trunks and hips were measured by a torque sensor and a home-made device of strength measurement. The standing balance of the drive leg was measured by a force plate with a mat. Results: The maximal shoulder external rotation angle in the arm cocking phase, the maximal trunk rotation velocity in the arm acceleration phase and the maximal shoulder horizontal adduction velocity showed moderate positive relationships with the ball velocity. The strength of back muscles had a moderate negative relationship with the ball velocity. The correlation between the balance ability of the drive leg and the ball velocity was not observed. Conclusion: The importance of proximal segments to the standing throw with run-up is analyzed by kinematical analysis. It is suggested that the energy of handball throwing is generated by the upper extremities or other limb segments in the processes of the standing throw with run-up. Our findings can serve as a helpful reference for both coaches and players.</p> <p> </p>

Development of the helicopter turboshafted engine regulator

The subject of research was the development of the RDC-450M-117V – the TV3-117VMA-SBM1V digital engine regulator – based on the RDC-450M previously created at the enterprise for the AI-450M engine, considering differences in engine characteristics and exploitation conditions. The work purpose was to develop RDC-450M-117V based on information about aircraft engine characteristics, including refinement of its mathematical model based on experimental data, taking into account the exploitation condition difference. The tasks faced by the developers were to determine the optimal regulator structure in view of exploitation conditions, refine the mathematical model of the engine, and study the characteristics of the pump-regulator, to select the optimal processing form for the signal of rotation sensors for torque measurement. The methods that were applied were experimental engine and pump-regulator characteristics study on the stands of JSC "Element", JSC "Motor Sich", and on pump-regulator manufacturer’s stands; processing of experimental data using numerical simulation with subsequent statistical analysis. The rotation sensors signals experimental data (waveforms) were studied using a quantitative analysis method. The results. Design and software documentation was developed considering the requirements of international standards DO-254 and DO-178C, and a prototype of the regulator new modification was made. The engine mathematical model was refined, on the basis of which the stand-imitator of aircraft engines was finalized for a new type of engine. An adaptive algorithm for controlling the pump-regulator was developed, which made it possible to ensure stable maintenance of fuel consumption, despite the unstable operation of the pump-regulator. Using a quantitative analysis of the torque sensor signal waveforms, characteristic points were found that ensure the choice of the optimal level of comparison (measurement). The pilot regulator prototype passed tests including electromagnetic compatibility and lightning resistance in specialized laboratories in Ukraine. The regulator was tested as part of the engine at the Motor Sich JSC stands and as part of a helicopter at the foreign customer site, including the first demonstration flight. The scientific novelty of the obtained results are: the clarified engine TV3-117VMA-SBM1V mathematical model was formed and implemented in a stand-imitator; the adaptive algorithm for controlling the pump-regulator was formed and allowed to provide stable fuel consumption maintenance, despite the pump-regulator unstable operation; and the optimal processing form for the signal of rotation sensors for measuring torque was selected. Practical significance. A new engine regulator was developed and tested, and it provided the first helicopter demonstration flight.

Design, modeling and kinematic analysis of a multi-configuration dexterous hand with integrated high-dimensional sensors

PurposeThis study aims to introduce a multi-configuration, three-finger dexterous hand with integrated high-dimensional sensors and provides an analysis of its design, modeling and kinematics.Design/methodology/approachA mechanical design scheme of the three-finger dexterous hand with a reconfigurable palm is proposed based on the existing research on dexterous hands. The reconfigurable palm design enables the dexterous hand to achieve four grasping modes to adapt to multiple grasping tasks. To further enhance perception, two six-axis force and torque sensors are integrated into each finger. The forward and inverse kinematics equations of the dexterous hand are derived using the D-H method for kinematics modeling, thus providing a theoretical model for index analysis. The performance is evaluated using three widely applied indicators: workspace, interactivity of fingers and manipulability.FindingsThe results of kinematics analysis show that the proposed hand has excellent dexterity. Additionally, three different experiments are conducted based on the proposed hand. The performance of the dexterous hand is also verified by fingertip force, motion accuracy test, grasping and in-hand manipulation experiments based on Feix taxonomy. The results show that the dexterous hand has good grasping ability, reproducing 82% of the natural movement of the human hand in daily grasping activities and achieving in-hand manipulations such as translation and rotation.Originality/valueA novel three-finger dexterous hand with multi-configuration and integrated high-dimensional sensors is proposed. It performs better than the previously designed dexterous hand in actual experiments and kinematic performance analysis.

Design and Implementation of a Low-Cost Torque Sensor for Manipulators

Humanoid and collaborative robots find their application in numerous sectors, such as automotive, electrical and mechanical engineering, not excluding the field of bioengineering. They replace repetitive and often monotonous human activity. As the trend nowadays is for continuous optimization of production processes, their advantage is easy relocation and operative application to new tasks, which allows the automation of practically all manual work. A common feature of manipulators is the control of the positioning of the actuators, primarily by adjusting the parameters of the drive units. Feedback is often implemented through various sensors that provide real-time information. However, most of the sensors in use do not provide information that would allow obtaining data on the history of the operating load in order to assess the further safe and reliable operation of the mechanical parts. This paper presents a low-cost torque sensor that was proposed by modifying the design of an existing part. The torque sensor was developed on the principle of strain gauge measurement. The results of strain–stress analysis obtained by numerical modelling were experimentally validated under static and dynamic loading. Practical application is mainly the development and long-term testing of prototypes of various types of manipulators and collaborative robots, where high accuracy and repeatability of positioning are essential.

Quartz crystal based sensor head design and analysis for robot torque sensor application

Background: Background: In recent years, with the gradual development of robot human-computer interaction, robots need to meet the precise control of more complex movements. Torque sensors play an important role. The traditional sensor uses metal strain gauge as the sensing element, which makes the sensor slow in response and low in resolution. In view of the shortcomings of strain gauge sensor, a sensor with cut quartz square as the sensing head is proposed. Methods: In order to study the quartz square sensitive head, COMSOL56 simulation modeling was first used to obtain the stress ratio relationship between the square quartz chip and the circular quartz chip. The formula for calculating the force frequency coefficient of the circular quartz chip was modified based on the ratio coefficient, and the formula for calculating the force frequency coefficient of the square quartz chip was obtained. The feasibility of the formula was verified through practical experiments; Secondly, theoretical simulation and experimental research were conducted on the buckling limit force of quartz chips, and the calculation formula for the buckling limit force during the installation process of quartz chips was revised, laying the foundation for the theoretical design of quartz sensors; Finally, the designed sensitive head is installed on the elastomer structure for verification; In order to collect frequency signals at a sampling rate of 1000Hz, the frequency signal output by the square quartz sensitive head is mixed, filtered, and amplified to form a 3.3V square wave between peaks. The frequency signal is collected by STM32. Conclusion: the test shows that the sensor with square quartz chip as the sensor head has a range of 150Nm, a sensitivity of 350 Hz / Nm, a linearity of 98.14%, a hysteresis of 0.51%, a repeatability of 98.44% and a resolution of 0.02%.

Compliant Control of Flexible Joint by Dual-Disturbance Observer and Predictive Feedforward

The compliant control of a flexible joint relies on the accurate external torque information and effective internal disturbance compensation. To achieve this, most of the prior works use a built-in torque sensor and a lumped disturbance observer based on a single encoder. This increases the weight and cost of the system. In this article, a novel dual-disturbance observer (DDOB) based on the encoder feedbacks from both the motor and link sides is proposed so that the friction and external torque are estimated and compensated separately without the torque sensor. Thereby, a feedforward–feedback–DDOB composite scheme is formed for position control. The modified reference sensitivity of this scheme suggests that better tracking accuracy and disturbance rejection ability are achieved. In addition, the estimated external torque is used to alternate the reference trajectory with the given admittance model. To ensure that the feedforward control is realizable, the prediction of the alternated trajectory is done by the online fitting of a polynomial. The output turbulence caused by prediction errors is effectively suppressed by a single deadbeat compensator with the most ancient prediction in memory, while other predictions are weighted by the time-varying ratios. Simulations and real-time experiments are performed to demonstrate the practical appeal of the proposed method.

Force–Torque Sensors for Minimally Invasive Surgery Robotic Tools: An Overview

Robot-assisted surgery is a multidisciplinary research field, which includes many subjects (e.g., medicine and surgery, engineering, mechanics, electronics, computer science, physics, chemical, material science, robotics and many others). Sensors for physical interaction, during robot-assisted surgery, integrate some of these disciplines and are an open challenge. In this survey, we analyse some of the main design solutions of force-torque sensors for surgical instruments with a critical approach, including design and application constraints: robotic surgery environment, surgeon perception, general design architectures of force-torque sensors and force-torque sensors used in robot-assisted minimally invasive surgery. The crucial aspects are analysed in detail, defining technological limitations and future perspectives of sensing instruments in surgical applications.

Design and Construction of Metrological Equipment for Torque Sensors with a Carbon-based Measuring Arm

Abstract The paper presents a comprehensive design of metrological equipment for torque sensor verification and calibration, detailing the process from conception to construction and highlighting the specifics of the structural design to meet metrological requirements. The measuring device’s functionality and the individual structural components are described, as is the methodology for creating a complete product. The paper addresses the crucial issue of measurement uncertainty and the required accuracy, achieved through the construction of a special measuring arm made of carbon material. FEM analyses of the carbon arm are presented and compared with the required metrological accuracies. In addition, we discuss the different properties of various carbon structures in Pre-preg materials used in the construction of the measuring arm and present the results of measurements on such carbon materials. This paper provides a comprehensive insight into the design and construction of metrological equipment for torque sensors, with a focus on its compliance with metrological requirements. The proposed device aims to establish the foundations for primary metrology of torque in Slovakia and has potential applications in a wide range of industries.

Sensorless Estimation of Human Joint Torque for Robust Tracking Control of Lower-Limb Exoskeleton Assistive Gait Rehabilitation

Patients suffering from motor disorders or weakness resulting from either serious spinal cord injury or stroke often require rehabilitation therapy to regain their mobility. In the lower limbs, exoskeletons have two motors aligned with the patients’ hip and knee to assist in rehabilitation exercises by supporting the patient’s body structure to increase the torques at the hip and knee joints. Assistive rehabilitation is, however, challenging, as the human torque is unknown and varies from patient to patient. This poses difficulties in determining the level of assistance required for a particular patient. In this paper, therefore, a modified extended state observer (ESO)-based integral sliding mode (ISM) controller (MESOISMC) for lower-limb exoskeleton assistive gait rehabilitation is proposed. The ESO is used to estimate the unknown human torque without application of a torque sensor while the ISMC is used to achieve robust tracking of preset hip and knee joint angles by considering the estimated human torque as a disturbance. The performance of the proposed MESOISMC was assessed using the mean absolute error (MAE). The obtained results show an 85.02% and 87.38% reduction in the MAE for the hip and joint angles, respectively, when the proposed MESOISMC is compared with ISMC with both controllers tuned via LMI optimization. The results also indicate that the proposed MESOISMC method is effective and efficient for user comfort and safety during gait rehabilitation training.

Quantitative assessment of spasticity: a narrative review of novel approaches and technologies.

Spasticity is a complex neurological disorder, causing significant physical disabilities and affecting patients' independence and quality of daily lives. Current spasticity assessment methods are questioned for their non-standardized measurement protocols, limited reliabilities, and capabilities in distinguishing neuron or non-neuron factors in upper motor neuron lesion. A series of new approaches are developed for improving the effectiveness of current clinical used spasticity assessment methods with the developing technology in biosensors, robotics, medical imaging, biomechanics, telemedicine, and artificial intelligence. We investigated the reliabilities and effectiveness of current spasticity measures employed in clinical environments and the newly developed approaches, published from 2016 to date, which have the potential to be used in clinical environments. The new spasticity scales, taking advantage of quantified information such as torque, or echo intensity, the velocity-dependent feature and patients' self-reported information, grade spasticity semi-quantitatively, have competitive or better reliability than previous spasticity scales. Medical imaging technologies, including near-infrared spectroscopy, magnetic resonance imaging, ultrasound and thermography, can measure muscle hemodynamics and metabolism, muscle tissue properties, or temperature of tissue. Medical imaging-based methods are feasible to provide quantitative information in assessing and monitoring muscle spasticity. Portable devices, robotic based equipment or myotonometry, using information from angular, inertial, torque or surface EMG sensors, can quantify spasticity with the help of machine learning algorithms. However, spasticity measures using those devices are normally not physiological sound. Repetitive peripheral magnetic stimulation can assess patients with severe spasticity, which lost voluntary contractions. Neuromusculoskeletal modeling evaluates the neural and non-neural properties and may gain insights into the underlying pathology of spasticity muscles. Telemedicine technology enables outpatient spasticity assessment. The newly developed spasticity methods aim to standardize experimental protocols and outcome measures and enable quantified, accurate, and intelligent assessment. However, more work is needed to investigate and improve the effectiveness and accuracy of spasticity assessment.

Performance Validation of High-Speed Motor for Electric Turbochargers Using Various Test Methods

As environmental regulations on automotive exhaust gas are gradually strengthened to cope with climate change, internal combustion engines, including those in hybrid electric vehicles, are continuously being downsized. Supercharging technologies are essential to compensate for the reduced engine power. One of the supercharging technologies, the turbocharger, has a response delay in the low-speed region, which is known as turbo lag. Various technologies have emerged to reduce turbo lag. Recently, electric supercharging technologies capable of reducing turbo lag using high-speed motors have been developed and commercialized. However, they are difficult to obtain for high-speed motors because of the cost of load performance test equipment. For this reason, many previous studies have compared analysis and experiment results under no-load conditions, or they have estimated performance in the high-speed region from results at low speed with light loads. This makes it difficult to know exactly how the performance of the motor is affected under loads applied to an actual system. In this study, performance test evaluation was conducted using a high-speed torque sensor, eddy current brake, and inertial dynamometer. Input/output power and efficiency were calculated using the measured voltage, current and output side torque and speed, and the results were compared.

Transition to the ultimate turbulent regime in a very wide gap Taylor-Couette flow (η = 0.1) with a stationary outer cylinder

The boundary layers in turbulent Taylor-Couette flow are exposed to transitions from laminar to turbulent states if the flow is sufficiently sheared. The present study examines this particular transition from the so-called “classical” to “ultimate” regime experimentally for a very wide-gap Taylor-Couette flow with a radius ratio of and shear Reynolds numbers of up to . In order to determine the transition, the angular momentum transport is measured by using torque sensors at the inner wall. This is complemented by measuring the radial and azimuthal velocities via a time-resolved Particle-Image-Velocimetry (PIV). The transition to the ultimate regime is found at . The dimensionless angular momentum flux showed an effective scaling of for and is in agreement with the scaling laws used for the ultimate regime in narrow-gap Taylor-Couette flows. In addition, a spectral analysis was performed showing the existence of highly energetic small-scale and large-scale patterns in the classical regime whereas only highly energetic large-scale patterns were observed in the ultimate regime.

Twistocaloric Modeling of Elastomer Fibers and Experimental Validation.

The twistocaloric effect is attributed to the change in entropy of the material driven by torsional stress. It is responsible for the torsional refrigeration of fiber materials that has been widely exploited as one of the solid-state cooling techniques with high efficiency and low volume change rate. The lack of theories and mathematical models of twistocaloric effect, however, limits broad applications of torsional refrigeration. In this work, a twistocaloric model is established to capture the relationship between twist density and temperature variation of natural rubber fibers and thermoplastic elastomer yarns. An experimental setup consisting torsion actuator and torque sensor coupled with a temperature measurement system is built to validate the model. Using the Maxwell relationship, twistocaloric coefficient is measured by quantifying the thermal effect induced by torsion under shear strain. The experimental characterization of the twistocaloric effect in natural rubber fiber and thermoplastic elastomer yarn are consistent with the theoretical predictions.

ADAS USING TOUCH SENSOR

EPS systems integrate Advanced Driver Assistance Systems (ADAS) while the driver controls the steering wheel. Touch sensors, torque, and position sensors improve driver involvement, safety, and control in EPS. ADAS features like lane-keeping assistance and adaptive cruise control are activated by the driver’s steering wheel touch. EPS with driver-enabled ADAS integration, using touch sensors, empowers drivers while leveraging enhanced automation. The vehicle model design incorporates touch sensors, Arduino, and motor drivers to enable Advanced Driver Assistance Systems (ADAS) exclusively when the driver holds the steering wheel. The touch sensors detect the driver’s touch on the steering wheel, triggering the ADAS functionalities and allowing the vehicle to move. The Arduino microcontroller, equipped with embedded C code, processes the touch sensor inputs and communicates with the motor drivers to initiate vehicle propulsion. The embedded C code facilitates real-time monitoring and control of the touch sensor inputs, enabling a seamless integration between driver interaction and vehicle movement, thereby enhancing both safety and user experience

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers.

Aluminum and Zinc Co-substituted Cobalt Ferrite: Structural, Magnetic, and Magnetostrictive Properties

We report on the influence of Al and Zn co-substitution on the structural, magnetic, and magnetostrictive properties of cobalt ferrite (Co1–xZnxFe2–xAlxO4, 0 ≤ x ≤ 0.15; CZFAO) materials, which were made using a glycine-nitrate autocombustion process. The cubic spinel structure is present in both the as-synthesized and the sintered CZFAO samples, where it was evident that the crystallite size and lattice parameter reduced with increasing x due to the incorporation of smaller Al3+ ions in place of larger Fe3+ ions in spinel ferrite. Co-substitution induced changes in the metal–oxygen bond lengths, causing both the tetrahedral and octahedral infrared and Raman spectroscopic bands to shift toward higher wavenumbers. The electron microscopy analyses indicate that the Al–Zn substitution induces grain growth, leading to a dense, interconnected grain morphology. Mossbauer analyses indicate that the Al3+ occupies the octahedral site, whereas Zn2+ is substituted at the tetrahedral site. Due to equal magnetic dilution of both tetrahedral and octahedral sites caused by the presence of Zn and Al at the appropriate sites, the saturation magnetization MS of CZFAO is the same as that of pure CFO. All other magnetic parameters (coercivity HC, magnetocrystalline anisotropy constant K1, and Curie temperature TC) decrease with increasing x, where the decline observed is mostly due to superexchange interaction (A-O-B) reduction caused by the substituents’ non-magnetic character. CZFAO materials exhibit higher magnetostriction strain λ and strain sensitivity dλ/dH at relatively low magnetic fields; among all the samples, x = 0.15 demonstrates a maximum strain sensitivity of −2.53 × 10–9 m/A at 23 kA/m magnetic field. The composition-tuned CZFAO materials with desirable properties are suitable for application in torque sensors.

Motor controlled system development with force-assistance using force/torque sensor for four-axis ceiling suspension system

Multi-axis force and torque sensors are type of transducers. They can measure force and torque in three dimensions. These sensors have multiple applications in robotic systems. The majority of these type of sensors use the strain measurement in any elastic structure. There are multiple approaches for strain measurement which include resistive strain gauge, piezo-electric and capacitive technologies. The evaluation of such a system can be done on various parameters, maximizing the acceptable sensing range while minimizing measurement errors/crosstalk is the main design challenge. In future, because force and torque sensors are necessary for service machines to interact with people in different situations, they will be widely deployed. However, it is challenging to find an appropriate force/torque sensor, and the cost is very high, because of certain design concerns and needs. This paper discusses an application based on the multi-axis force/torque sensor. A force-assisted control system has been proposed with simultaneous motorized action using force as feedback. The sensor needs and machine performance are reviewed after a thorough analysis of relevant data. This thorough investigation will benefit in the interfacing of specialized force/torque sensors to reduce crosstalk and aid in broadening the scope of service machines in which they can be used.

Lower Limb Exoskeleton for Rehabilitation with Flexible Joints and Movement Routines Commanded by Electromyography and Baropodometry Sensors.

This paper presents the development of an instrumented exoskeleton with baropodometry, electromyography, and torque sensors. The six degrees of freedom (Dof) exoskeleton has a human intention detection system based on a classifier of electromyographic signals coming from four sensors placed in the muscles of the lower extremity together with baropodometric signals from four resistive load sensors placed at the front and rear parts of both feet. In addition, the exoskeleton is instrumented with four flexible actuators coupled with torque sensors. The main objective of the paper was the development of a lower limb therapy exoskeleton, articulated at hip and knees to allow the performance of three types of motion depending on the detected user's intention: sitting to standing, standing to sitting, and standing to walking. In addition, the paper presents the development of a dynamical model and the implementation of a feedback control in the exoskeleton.

Design and Development of a Versatile Quadruped Climbing Robot With Obstacle-Overcoming and Manipulation Capabilities

This article proposes a versatile quadruped climbing robot (QCR) based on multidegree-of-freedom legs utilizing adhesive vacuum suckers. For the first time, the climbing robot is simultaneously endowed with climbing, omnidirectional locomotion, large obstacle overcoming, and manipulation capabilities. A prototype QCR is developed by integrating the functional components along with vision and torque sensors. The kinematic and quasi-static climbing models have been derived under different scenarios with climbing safety checks by analyzing the adhesive and surface reaction forces. For potential application on the glass façade of high-rise buildings that are slippery and often full of prominent structures, a forward crawling gait and an omnidirectional climbing gait are planned to overcome the obstacles. A comprehensive torque controller is proposed for locomotion. The concept of the leg-transformed manipulator is introduced to accomplish the manipulation tasks under visual guidance. The robot's performance has been verified by performing several experiments in adhesion, crawling, visual-guided manipulation, and climbing. Results reveal that the developed QCR can stably climb, overcome obstacles, and perform manipulation on surfaces with different inclination angles and obstacles.

Design and Testing of a Dynamic Orthosis to Reduce Glenohumeral Subluxation With Omnidirectional Shoulder Motion.

This paper aimed to develop an orthosis to apply a compensating force to improve the stability of the glenohumeral joint without resisting arm movement. The proposed orthosis was based on a parallelogram structure to provide a pair of compensating forces to the glenohumeral joint center. Theoretical analysis was used to evaluate the additional moments caused by glenohumeral joint center shifting. Then, an experimental evaluation platform, composed of a torque sensor, a force sensor, and a 3D printed arm, was set up to assess the additional moments and compensating force. Finally, the proposed orthosis was compared with the traditional orthosis to compare the subluxation reduction and the movement restriction when worn by stroke patients. There was only a maximum additional moment of 0.87 Nm for the glenohumeral center shifting. During 3D printed arm movement, the moment correlation coefficient between with and without the proposed orthosis was greater than 0.98, and the compensating force was larger than 90% of the arm weight. The proposed orthosis reduced subluxation by 12.5±3.5 mm, and the traditional orthosis reduced subluxation by 7.7±2.2 mm, indicating that the subluxation reduction of the proposed orthosis was more effective ( ). Meanwhile, the proposed orthosis's motion restriction joint was significantly smaller than traditional orthosis ( ). The proposed orthosis provided sufficient gravity compensation without resisting arm movement. The proposed orthosis can improve the shoulder's stability during shoulder movement, potentially improving the rehabilitation effect of patients with shoulder subluxation.