# An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism: Design, modeling, control, and performance evaluation

> Research article (The International Journal of Robotics Research, 2017) · cited 320× · AI/ML

**Wikidata**: [openalex:W2613959249](https://www.wikidata.org/wiki/openalex:W2613959249)  
**Source**: https://4ort.xyz/entity/an-upper-body-rehabilitation-exoskeleton-harmony-with-an-anatomical-shoulder-mechanism-design-modeling-control-and-perfo