{"id":"https://openalex.org/W2128428510","doi":"https://doi.org/10.1109/.2005.1507460","title":"The human arm kinematics and dynamics during daily activities - toward a 7 DOF upper limb powered exoskeleton","display_name":"The human arm kinematics and dynamics during daily activities - toward a 7 DOF upper limb powered exoskeleton","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2128428510","doi":"https://doi.org/10.1109/.2005.1507460","mag":"2128428510"},"language":"en","primary_location":{"id":"doi:10.1109/.2005.1507460","doi":"https://doi.org/10.1109/.2005.1507460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/.2005.1507460","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085568916","display_name":"Jacob Ros\u00e9n","orcid":"https://orcid.org/0000-0003-4901-7404","observed_orcids":["https://orcid.org/0000-0003-4901-7404"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Rosen","raw_affiliation_strings":["Washington University in Saint Louis, Saint Louis, MO, US","Dept. of Electr. Eng., Washington Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Washington University in Saint Louis, Saint Louis, MO, US","institution_ids":["https://openalex.org/I204465549"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Washington Univ","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016792768","display_name":"Joel C. Perry","orcid":"https://orcid.org/0000-0003-2218-1642","observed_orcids":["https://orcid.org/0000-0003-2218-1642"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.C. Perry","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080537370","display_name":"N. Manning","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Manning","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040250523","display_name":"Stephen P. Burns","orcid":"https://orcid.org/0000-0003-4714-5111","observed_orcids":["https://orcid.org/0000-0003-4714-5111"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Burns","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074967911","display_name":"Blake Hannaford","orcid":"https://orcid.org/0000-0001-7370-4920","observed_orcids":["https://orcid.org/0000-0001-7370-4920"]},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Hannaford","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.1146,"has_fulltext":false,"cited_by_count":199,"citation_normalized_percentile":{"value":0.96290121,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"532","last_page":"539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.0027000000700354576,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/human-arm-kinematics","display_name":"human arm kinematics","score":0.8450000286102295},{"id":"https://openalex.org/keywords/arm-dynamics","display_name":"arm dynamics","score":0.8019999861717224},{"id":"https://openalex.org/keywords/daily-activities","display_name":"daily activities","score":0.7860000133514404},{"id":"https://openalex.org/keywords/joint-torque","display_name":"joint torque","score":0.8330000042915344},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"equations of motion","score":0.9120000004768372},{"id":"https://openalex.org/keywords/gravitational-torque","display_name":"gravitational torque","score":0.5249999761581421},{"id":"https://openalex.org/keywords/object-grasping","display_name":"object grasping","score":0.8679999709129333},{"id":"https://openalex.org/keywords/assistive-technology","display_name":"assistive technology","score":0.6930000185966492},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"rehabilitation robotics","score":0.49399998784065247}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8300021886825562},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7118810415267944},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.6590848565101624},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.555911123752594},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5034591555595398},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5002017021179199},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.49490803480148315},{"id":"https://openalex.org/C2776660947","wikidata":"https://www.wikidata.org/wiki/Q841423","display_name":"Upper limb","level":2,"score":0.4729433059692383},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.4694375991821289},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.46691349148750305},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46315187215805054},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4530382752418518},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4381718635559082},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.38635075092315674},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3472532629966736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29106608033180237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21491259336471558},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19514915347099304},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1072598397731781},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/.2005.1507460","doi":"https://doi.org/10.1109/.2005.1507460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/.2005.1507460","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","raw_type":"proceedings-article"},{"id":"doi:10.1109/icar.2005.1507460","doi":"https://doi.org/10.1109/icar.2005.1507460","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2005.1507460","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:dsp.tecnalia.com:11556/8306","doi":null,"is_oa":false,"landing_page_url":"https://hdl.handle.net/11556/8306","pdf_url":null,"source":{"id":"https://openalex.org/S4306402037","display_name":"TECNALIA Publications (Fundaci\u00f3n TECNALIA Research & Innovation)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210113430","host_organization_name":"Tecnalia","host_organization_lineage":["https://openalex.org/I4210113430"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference output"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.5683000087738037}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306127","display_name":"U.S. Department of Veterans Affairs","ror":"https://ror.org/05rsv9s98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1554541441","https://openalex.org/W2101130337","https://openalex.org/W2116646817"],"related_works":["https://openalex.org/W7099934724","https://openalex.org/W2166796640","https://openalex.org/W2252841478","https://openalex.org/W1991847063","https://openalex.org/W2742229713","https://openalex.org/W2078758090","https://openalex.org/W2789990281","https://openalex.org/W3114170234","https://openalex.org/W2126663592","https://openalex.org/W2292305412"],"abstract_inverted_index":{"Integrating":[0],"human":[1,55,115,287],"and":[2,25,37,50,63,150,185,221,231,273],"robot":[3],"into":[4],"a":[5,13,30,61,77,98,104,111,117,243],"single":[6],"system":[7,101],"offers":[8],"remarkable":[9],"opportunities":[10],"for":[11,85,260,281,285],"creating":[12],"new":[14],"generation":[15],"of":[16,42,53,68,76,80,91,107,113,123,174,182,191,194,198,215,242,263],"assistive":[17],"technology.":[18],"Having":[19],"obvious":[20],"applications":[21],"in":[22,60,73,143,169,210,236,250],"rehabilitation":[23],"medicine":[24],"virtual":[26],"reality":[27],"simulation,":[28],"such":[29,254],"device":[31],"would":[32],"benefit":[33],"both":[34],"the":[35,43,48,51,54,74,86,92,114,121,132,144,155,171,175,179,183,189,195,202,206,219,222,228,246,256,264,271,278,286],"healthy":[36],"disabled":[38],"population.":[39],"The":[40,89,213,266],"aim":[41],"research":[44,71],"is":[45,205,225],"to":[46,127,154],"study":[47],"kinematics":[49,90,249,272],"dynamics":[52],"arm":[56,133,248,288],"during":[57,166],"daily":[58,108],"activities":[59],"free":[62],"unconstrained":[64],"environment":[65],"as":[66,116,152,255],"part":[67],"an":[69],"on-going":[70],"involved":[72],"design":[75],"7":[78,118],"degree":[79],"freedom":[81],"(DOF)":[82],"powered":[83,283],"exoskeleton":[84,284],"upper":[87,93],"limb.":[88],"limb":[94],"was":[95,164],"acquired":[96],"with":[97,270],"motion":[99,124,199],"capture":[100],"while":[102],"performing":[103],"wide":[105],"verity":[106],"activities.":[109],"Utilizing":[110],"model":[112],"DOF":[119],"system,":[120],"equations":[122,197],"were":[125,141],"used":[126],"calculate":[128],"joint":[129,177],"torques":[130],"given":[131],"kinematics.":[134],"During":[135],"positioning":[136],"tasks,":[137],"higher":[138,226],"angular":[139,172,180],"velocities":[140,173,181],"observed":[142,165],"gross":[145],"manipulation":[146,157,168],"joints":[147,158,220],"(the":[148,159],"shoulder":[149,184,257],"elbow)":[151],"compared":[153],"fine":[156,167],"wrist).":[160],"An":[161],"inverted":[162],"phenomenon":[163],"which":[170,251],"wrist":[176],"exceeded":[178],"elbow":[186],"joints.":[187],"Analyzing":[188],"contribution":[190],"individual":[192],"terms":[193,233],"arm's":[196],"indicate":[200],"that":[201],"gravitational":[203],"term":[204,209,217],"most":[207],"dominant":[208],"these":[211],"equations.":[212],"magnitudes":[214],"this":[216],"across":[218],"various":[223],"actions":[224],"than":[227],"inertial,":[229],"centrifugal,":[230],"Coriolis":[232],"combined.":[234],"Variation":[235],"object":[237],"grasping":[238],"(e.g.":[239],"power":[240],"grasp":[241],"spoon)":[244],"alters":[245],"overall":[247],"other":[252],"joints,":[253],"joint,":[258],"compensate":[259],"lost":[261],"dexterity":[262],"wrist.":[265],"collected":[267],"database":[268],"along":[269],"dynamic":[274],"analysis":[275],"may":[276],"provide":[277],"fundamental":[279],"understanding":[280],"designing":[282]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":15}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
