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Soft exosuits have advantages over their rigid counterparts in terms of portability, transparency and ergonomics. Our previous work has shown that a soft, fabric-based exosuit, actuated by an electric motor and a Bowden cable, reduced the muscular effort of the user when flexing the elbow. This previous exosuit used a gravity compensation algorithm with the assumption that the shoulder was adducted at the trunk. In this investigation, the shoulder elevation angle was incorporated into the gravity compensation control via inertial measurement units (IMUs). We assessed our updated gravity compensation model with four healthy, male subjects (age: $26.2 \pm 1.19$ years) who followed an elbow flexion reference trajectory which reached three amplitudes $(25^{\circ}, 50^{\circ}, 75^{\circ})$ and was repeated at three shoulder angles $(25^{\circ}, 50^{\circ}, 75^{\circ})$. To assess the performance of the exosuit; the smoothness, tracking accuracy and muscle activity were investigated during each motion. We found a reduction of biceps brachii activation (24.3%) in the powered condition compared to the unpowered condition. In addition, there was an improvement in kinematic smoothness (0.83%) and a reduction of tracking accuracy (26.5%) in the powered condition with respect to the unpowered condition. We can conclude that the updated gravity compensation algorithm has increased the number of supported movements by considering the shoulder elevation, which has improved the usability of the device.

O presente trabalho procura analisar a relação entre a Comissão Interamericana de Direitos Humanos (CIDH), suas decisões em relação ao Brasil e como elas podem influenciar o ordenamento jurídico interno. Para isso, pretende analisar a história da Comissão e como ela acabou por possuir uma dualidade de competências, em razão dos tratados internacionais que a orientam, especialmente a Declaração Americana de Direitos e Deveres do Homem (DADH), a Carta da Organização dos Estados Americanos (OEA) e a Convenção Americana de Direitos Humanos (CADH). Embora não seja o tema central do trabalho, também será mencionada a atuação da Corte Interamericana de Direitos Humanos (CteIDH) no procedimento da Convenção. Com intuito de compreender a influência das decisões da Comissão no ordenamento brasileiro, que é o objetivo central do presente estudo, o trabalho busca estudar e analisar alguns casos práticos, tanto do período em que a Comissão atuou como órgão reconhecido da Carta da OEA, como da época em que atuou como órgão do sistema da Convenção, posteriormente à ratificação do Brasil. The present work analyzes the relation between the Inter-American Commission on Human Rights (ICHR), its decisions regarding Brazil and how they could influence the internal legal system. In order to do so, it analyzes the history of the Commission and how it became an organ with a dual competence in the Inter- American System of Human Rights (ISHR), due to the international treaties that guide it, specially the American Declaration of the Rights and Duties of Men, the OAS Chart and the American Convention on Human Rights (ACHR). Although it is not the central issue of the research, the work also mentions the role of the Inter-American Court on Human Rights (ICtHR) in the ACHR’s procedure. In order to comprehend the influence of the Commission’s decisions in the internal legal system, which is the central objective of the present study, it will study and analyze some practical cases, from the period when the Commission were solely the OAS Chart human rights organ, as well as from the time when it was an Convention organ, after Brazil’s ratification of the Convention.