I am no expert but I can see no reason why it might cause harm. I do suggest you do not re-charge it every time - repeated charges from a high level is said (I know not really|) to reduce battery life. One tip I was given - it can extend battery life if you discharge it completely every so often.
Since we're discussing a home O2 concentrator, batteries aren't part of the equation.
This said, your comments about occasional full discharge of batteries may or may not apply, depending on the type of battery chemistry in use. There are also recommendations for the maximum charge percentage, based on chemistry.
Charging & discharging conditions as related to the life cycles of storage batteries is a well-researched subject, a whole science in itself.
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