{"id":"https://openalex.org/W3196889839","doi":"https://doi.org/10.1051/meca/2014022/pdf","title":"Spherical wrist dimensional synthesis adapted for tool-guidance medical robots","display_name":"Spherical wrist dimensional synthesis adapted for tool-guidance medical robots","publication_year":2014,"publication_date":"2014-05-30","ids":{"openalex":"https://openalex.org/W3196889839","doi":"https://doi.org/10.1051/meca/2014022/pdf","mag":"3196889839"},"language":"en","primary_location":{"id":"pmh:oai:edpsciences.org:dkey/10.1051/meca/2014022","doi":"https://doi.org/10.1051/meca/2014022/pdf","is_oa":true,"landing_page_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","pdf_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","source":{"id":"https://openalex.org/S4306400744","display_name":"Springer Link (Chiba Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I8488066","host_organization_name":"Chiba Institute of Technology","host_organization_lineage":["https://openalex.org/I8488066"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://doi.org/10.1051/meca/2014022","raw_type":"Text"},"volume":null,"type":"article","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067264210","display_name":"T\u00e9rence Essomba","orcid":"https://orcid.org/0000-0002-8828-6802","observed_orcids":["https://orcid.org/0000-0002-8828-6802"]},"institutions":[{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]},{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Essomba","raw_affiliation_strings":["PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","PPrime [Poitiers] - Institut Pprime [UPR 3346] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique\r\nSP2MI T\u00e9l\u00e9port 2\r\nBoulevard Pierre et Marie Curie\r\nBP 30179\r\n86962 FUTUROSCOPE CEDEX - France)","PRISME - Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique [2008-2013] (8 rue L\u00e9onard de Vinci, 45072 Orl\u00e9ans C\u00e9dex 2 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782"]},{"raw_affiliation_string":"PPrime [Poitiers] - Institut Pprime [UPR 3346] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique\r\nSP2MI T\u00e9l\u00e9port 2\r\nBoulevard Pierre et Marie Curie\r\nBP 30179\r\n86962 FUTUROSCOPE CEDEX - France)","institution_ids":["https://openalex.org/I2802931824"]},{"raw_affiliation_string":"PRISME - Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique [2008-2013] (8 rue L\u00e9onard de Vinci, 45072 Orl\u00e9ans C\u00e9dex 2 - France)","institution_ids":["https://openalex.org/I4210096782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113980805","display_name":"Laurence Nouaille","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"L. Nouaille","raw_affiliation_strings":["PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","IRAUS - D\u00e9partement Images, Robotique, Automatique et Signal [Orl\u00e9ans] (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782"]},{"raw_affiliation_string":"IRAUS - D\u00e9partement Images, Robotique, Automatique et Signal [Orl\u00e9ans] (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040555464","display_name":"Med Amine Laribi","orcid":"https://orcid.org/0000-0003-0797-7669","observed_orcids":["https://orcid.org/0000-0003-0797-7669","https://orcid.org/0000-0002-8748-9296"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Med Amine Laribi","raw_affiliation_strings":["PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","RoBioSS - Robotique, Biom\u00e9canique, Sport, Sant\u00e9 [Institut Pprime] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique SP2MI T\u00e9l\u00e9port 2 Boulevard Pierre et Marie Curie BP 30179 86962 FUTUROSCOPE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"RoBioSS - Robotique, Biom\u00e9canique, Sport, Sant\u00e9 [Institut Pprime] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique SP2MI T\u00e9l\u00e9port 2 Boulevard Pierre et Marie Curie BP 30179 86962 FUTUROSCOPE CEDEX - France)","institution_ids":["https://openalex.org/I2802931824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020285801","display_name":"Carl A. Nelson","orcid":"https://orcid.org/0000-0003-4948-6286","observed_orcids":["https://orcid.org/0000-0003-4948-6286"]},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.A. Nelson","raw_affiliation_strings":["Dept. of Mechanical and Materials Engineering , University of Nebraska-Lincoln , USA","Applied Mechanisms and Design Lab (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical and Materials Engineering , University of Nebraska-Lincoln , USA","institution_ids":["https://openalex.org/I114395901"]},{"raw_affiliation_string":"Applied Mechanisms and Design Lab (United States)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107330719","display_name":"S. Zeghloul","orcid":"https://orcid.org/0000-0003-3590-9532","observed_orcids":["https://orcid.org/0000-0003-3590-9532"]},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I171246369","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et d'A\u00e9rotechnique","ror":"https://ror.org/04jx68594","country_code":"FR","type":"facility","lineage":["https://openalex.org/I171246369"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Zeghloul","raw_affiliation_strings":["PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","PPrime [Poitiers] - Institut Pprime [UPR 3346] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique\r\nSP2MI T\u00e9l\u00e9port 2\r\nBoulevard Pierre et Marie Curie\r\nBP 30179\r\n86962 FUTUROSCOPE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PPRIME Institute , Dept. GSMC -CNRS ENSMA UPR 3346 , University of Poitiers , France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790"]},{"raw_affiliation_string":"PPrime [Poitiers] - Institut Pprime [UPR 3346] (Institut PPRIME : Recherche et Ing\u00e9nierie en Mat\u00e9riaux, M\u00e9canique et Energ\u00e9tique\r\nSP2MI T\u00e9l\u00e9port 2\r\nBoulevard Pierre et Marie Curie\r\nBP 30179\r\n86962 FUTUROSCOPE CEDEX - France)","institution_ids":["https://openalex.org/I2802931824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028428443","display_name":"G\u00e9rard Poisson","orcid":"https://orcid.org/0000-0002-6730-9411","observed_orcids":["https://orcid.org/0000-0002-6730-9411"]},"institutions":[{"id":"https://openalex.org/I12449238","display_name":"Universit\u00e9 d'Orl\u00e9ans","ror":"https://ror.org/014zrew76","country_code":"FR","type":"education","lineage":["https://openalex.org/I12449238"]},{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"G. Poisson","raw_affiliation_strings":["PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","PRISME - Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique [2008-2013] (8 rue L\u00e9onard de Vinci, 45072 Orl\u00e9ans C\u00e9dex 2 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PRISME Laboratory , Universit\u00e9 d'Orl\u00e9ans , INSA CVL , France","institution_ids":["https://openalex.org/I12449238","https://openalex.org/I4210096782"]},{"raw_affiliation_string":"PRISME - Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique [2008-2013] (8 rue L\u00e9onard de Vinci, 45072 Orl\u00e9ans C\u00e9dex 2 - France)","institution_ids":["https://openalex.org/I4210096782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8585,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87857302,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.0005000000237487257,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0,"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/spherical-wrist","display_name":"spherical wrist","score":0.9779999852180481},{"id":"https://openalex.org/keywords/dimensional-synthesis","display_name":"dimensional synthesis","score":0.9950000047683716},{"id":"https://openalex.org/keywords/medical-robots","display_name":"medical robots","score":0.8349999785423279},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"multi-objective optimization","score":0.9470000267028809},{"id":"https://openalex.org/keywords/kinematic-performance","display_name":"kinematic performance","score":0.8159999847412109},{"id":"https://openalex.org/keywords/workspace","display_name":"workspace","score":0.5139999985694885},{"id":"https://openalex.org/keywords/robot-design","display_name":"robot design","score":0.503000020980835}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8109868764877319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7792418003082275},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6379332542419434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6001421213150024},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5987398028373718},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4304669499397278},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4239645302295685},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4237658679485321},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.41628628969192505},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3948875963687897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35183221101760864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3204559087753296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25518178939819336},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.25478172302246094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19375178217887878},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1870763897895813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10540074110031128},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:edpsciences.org:dkey/10.1051/meca/2014022","doi":"https://doi.org/10.1051/meca/2014022/pdf","is_oa":true,"landing_page_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","pdf_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","source":{"id":"https://openalex.org/S4306400744","display_name":"Springer Link (Chiba Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I8488066","host_organization_name":"Chiba Institute of Technology","host_organization_lineage":["https://openalex.org/I8488066"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://doi.org/10.1051/meca/2014022","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:edpsciences.org:dkey/10.1051/meca/2014022","doi":"https://doi.org/10.1051/meca/2014022/pdf","is_oa":true,"landing_page_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","pdf_url":"https://www.mechanics-industry.org/10.1051/meca/2014022/pdf","source":{"id":"https://openalex.org/S4306400744","display_name":"Springer Link (Chiba Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I8488066","host_organization_name":"Chiba Institute of Technology","host_organization_lineage":["https://openalex.org/I8488066"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://doi.org/10.1051/meca/2014022","raw_type":"Text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"display_name":"Sustainable cities and communities","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G3207356259","display_name":null,"funder_award_id":"2007\u20132013","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G496129201","display_name":null,"funder_award_id":"2007 \u2013 2013","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3196889839.pdf","grobid_xml":"https://content.openalex.org/works/W3196889839.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W1980640890","https://openalex.org/W1993464689","https://openalex.org/W2017526676","https://openalex.org/W2046282300","https://openalex.org/W2093421175","https://openalex.org/W2103621844","https://openalex.org/W2135764854","https://openalex.org/W2149961271","https://openalex.org/W2170375828","https://openalex.org/W4244529256","https://openalex.org/W4251420516"],"related_works":["https://openalex.org/W2040782467","https://openalex.org/W2049665714","https://openalex.org/W2044932992","https://openalex.org/W1935599822","https://openalex.org/W1992742262","https://openalex.org/W2981379286","https://openalex.org/W2336988262","https://openalex.org/W1604037492","https://openalex.org/W2161151503","https://openalex.org/W7058378273"],"abstract_inverted_index":{"The":[0,210,236],"objective":[1],"of":[2,11,24,36,49,90,104,165,167,212,217,224,233,244,288,301],"this":[3,41,213],"article":[4],"is":[5,29,126,138,221],"to":[6,32,128,135,147,199,253,278,294],"present":[7],"the":[8,21,47,71,76,82,115,140,168,208,218,222,228,231,234,242,245,254,260,266,271],"dimensional":[9,161,289],"synthesis":[10,162,290],"serial":[12,171,182],"and":[13,60,172,180,205,230],"parallel":[14,173],"spherical":[15,123,174],"wrists,":[16,175],"an":[17],"important":[18,132],"step":[19,28],"in":[20,84,145],"design":[22,214,237],"process":[23,287],"medical":[25,38,54,72,136,255,273,284,296],"robots.":[26,39],"This":[27,286],"carried":[30],"out":[31],"obtain":[33,200],"optimal":[34],"dimensions":[35,166],"tool-guidance":[37],"With":[40],"goal,":[42],"we":[43,67],"have":[44,68,87],"first":[45],"studied":[46,219],"specifications":[48,83,243],"two":[50],"robots":[51,100],"with":[52,152,298],"different":[53,80,261,299],"applications:":[55],"one":[56,61],"for":[57,62,170,176,184,207,264,270],"tele-echography":[58,178],"examination":[59],"minimally":[63,186],"invasive":[64,187],"surgery.":[65],"Then,":[66],"established":[69],"that":[70,139,248],"needs":[73],"expressed":[74],"by":[75],"doctors":[77],"were":[78],"very":[79],"but":[81],"robotic":[85],"terms":[86],"a":[88,102,108,122,177,181,185,196],"lot":[89],"common":[91],"points":[92],"(kinematics,":[93],"workspace,":[94],"bulkiness).":[95],"For":[96],"both":[97,201],"applications":[98,137,297],"studied,":[99],"need":[101],"mobility":[103],"three":[105],"rotations":[106],"around":[107],"fixed":[109],"point":[110,113],"(probe":[111],"contact":[112],"on":[114],"patient\u2019s":[116],"skin":[117],"or":[118,150,157],"trocar":[119],"incision).":[120],"So,":[121],"wrist":[124,183],"architecture":[125,269],"adapted":[127],"their":[129],"needs.":[130],"An":[131],"constraint":[133],"related":[134],"robot":[141,246],"must":[142,239],"be":[143,292],"compact":[144],"order":[146],"not":[148],"obstruct":[149],"collide":[151],"its":[153,249],"environment":[154],"(medical":[155],"personnel":[156],"patient).":[158],"We":[159,190,257],"perform":[160],"allowing":[163],"determination":[164],"mechanism":[169],"robot,":[179],"surgery":[188],"robot.":[189,235],"use":[191],"multi-criteria":[192],"optimization":[193],"methods":[194,262],"minimizing":[195],"cost":[197],"function":[198],"good":[202],"kinematic":[203,268],"performance":[204,250],"compactness":[206],"architecture.":[209],"difficulty/challenge":[211],"process,":[215],"depending":[216],"applications,":[220],"choice":[223],"efficient":[225],"criteria":[226],"describing":[227],"performances":[229],"constraints":[232],"variables":[238],"faithfully":[240],"represent":[241],"so":[247],"can":[251],"respond":[252],"requirements.":[256],"show,":[258],"here,":[259],"used":[263],"optimizing":[265],"chosen":[267],"particular":[272],"application.":[274],"These":[275],"studies":[276],"lead":[277],"prototypes":[279],"which":[280],"are":[281],"validated":[282],"after":[283],"experiments.":[285],"will":[291],"applied":[293],"other":[295],"sets":[300],"specified":[302],"constraints.":[303]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2026-10-13T10:08:12.033832","created_date":"2021-09-13T00:00:00"}
