Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Test Bench For Evaluating Exoskeletons For Upper Limb Rehabilitation   The potential of wearable robotics technology is undeniable. However,
quantifying its value is difficult. Various types of exoskeleton robots have
already been developed and tested for upper limb rehabilitation but,
evaluations are not standardized, particularly in pediatric rehabilitation.
This paper proposes a methodology for the quantitative evaluation of upper limb
exoskeletons that, like a test bench, would serve for replicable testing. We
determined the range of motion (ROM) and joint torques using both kinematic
modeling and experimental measurements (using sensors integrated into Dynamixel
actuators). The proposed test bench can provide an accurate range of motion
(ROM) and joint torques during the pronation-supination (PS) task. The range of
motion obtained with the physical prototype was approximately 156.26 +-
4.71{\deg} during the PS task, while it was approximately 146.84 +- 14.32{\deg}
for the multibody model. The results show that the average range of
experimental torques (0.28 +- 0.06 N.m) was overestimated by 40% and just 3.4%,
respectively, when compared to the average range of simulated torques (0.2 +-
0.05 N.m) and to the highest range of simulated torques (0.29 N.m). For the
experimental measurements, test-retest reliability was excellent (0.96-0.98)
within sessions and excellent (0.93) or good (0.81-0.86) between sessions.
Finally, the suggested approach provides a ROM close to the normal ROM
necessary during PS tasks. These results validate the measurements' accuracy
and underline the proposed methodology's relevance. The proposed test bench
could become a reference standard for evaluating exoskeletons. This study also
addresses a methodological aspect on the accurate assessment of joint torques
that can serve in applications such as the sizing of actuators in exoskeletons
or the non-invasive evaluation of muscle forces in the human body.

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The categories of this paper are: astro-ph
3
The categories of this paper are: physics
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The categories of this paper are: nucl-th
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The categories of this paper are: plasm-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: adap-org
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The categories of this paper are: funct-an
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The categories of this paper are: solv-int
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The categories of this paper are: alg-geom
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The categories of this paper are: cmp-lg
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The categories of this paper are: dg-ga
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The categories of this paper are: gr-qc
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The categories of this paper are: mtrl-th
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph
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The categories of this paper are: q-fin