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The subclavian artery transitions into the axillary artery as it exits the chest and enters the axillary region. This artery is critical for supplying blood to the shoulder area, including the head of the humerus, through the humeral circumflex arteries. As the vessel continues into the upper arm or brachium, it becomes the brachial artery. This artery plays a key role in vascularizing the brachial region and bifurcates at the elbow into several branches. These branches include the deep...
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The human circulatory system, a marvel of biological engineering, is a complex network of vessels that transport blood throughout the body. Among these, the veins responsible for carrying blood from the upper limbs are divided into two categories: deep and superficial.
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The upper limb consists of the arm, forearm, wrist, and hand bones. The humerus is the single bone of the upper arm region. Proximally, it has a large, spherical, smooth head that articulates with the glenoid cavity of the scapula to form the glenohumeral or shoulder joint. The margin of the head is the anatomical neck, a residual epiphyseal plate. Laterally it extends to form bony projections called the greater tubercle and the lesser tubercle. Next to the tubercles is the surgical neck, a...
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The external iliac artery transitions out of the body cavity, entering the femoral region of the lower leg, and is renamed the femoral artery at the point where it traverses the body wall. This artery is responsible for the distribution of blood to the thigh's deep muscles and the skin's ventral and lateral regions, achieved through several minor branches and the lateral deep femoral artery, which also spawns a lateral circumflex artery. The knee area receives blood from the genicular...
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Related Experiment Video

Updated: Jan 21, 2026

Author Spotlight: Enhancing Upper Limb Rehabilitation in Stroke Patients Through Advanced Robotic and Neuromodulation Technologies
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IMU-based assistance modulation in upper limb soft wearable exosuits.

Kieran Little, Chris W Antuvan, Michele Xiloyannis

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 4, 2019
    PubMed
    Summary

    This study enhanced a soft exosuit

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    Area of Science:

    • Robotics
    • Biomechanics
    • Human-Computer Interaction

    Background:

    • Soft exosuits offer portability and ergonomic benefits over rigid designs.
    • Previous soft exosuits reduced elbow flexion effort but assumed a fixed shoulder position.
    • Gravity compensation algorithms are crucial for effective exosuit assistance.

    Purpose of the Study:

    • To improve the gravity compensation control of a soft exosuit by incorporating shoulder elevation.
    • To assess the impact of the updated algorithm on user effort, movement smoothness, and tracking accuracy.
    • To enhance the overall usability and range of supported movements for soft exosuit technology.

    Main Methods:

    • Developed an updated gravity compensation algorithm integrating shoulder elevation data from inertial measurement units (IMUs).
    • Evaluated the soft exosuit with four healthy male subjects performing elbow flexion at various amplitudes and shoulder angles.
    • Measured muscle activity (biceps brachii), kinematic smoothness, and tracking accuracy during powered and unpowered conditions.

    Main Results:

    • A significant reduction in biceps brachii muscle activation (24.3%) was observed with the powered exosuit.
    • Kinematic smoothness of elbow flexion improved by 0.83% in the powered condition.
    • Tracking accuracy decreased by 26.5% in the powered condition, indicating altered movement dynamics.

    Conclusions:

    • The updated gravity compensation algorithm, by accounting for shoulder elevation, expands the functional capabilities of the soft exosuit.
    • The enhanced exosuit demonstrates potential for reducing muscular effort and improving user experience in daily activities.
    • This research advances soft exosuit design towards more adaptable and intuitive assistive devices.