{"id":"https://openalex.org/W3179216215","doi":"https://doi.org/10.1007/s10462-021-10041-z","title":"Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic","display_name":"Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic","publication_year":2021,"publication_date":"2021-07-08","ids":{"openalex":"https://openalex.org/W3179216215","doi":"https://doi.org/10.1007/s10462-021-10041-z","mag":"3179216215"},"language":"en","primary_location":{"id":"doi:10.1007/s10462-021-10041-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10462-021-10041-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10462-021-10041-z.pdf","source":{"id":"https://openalex.org/S122814990","display_name":"Artificial Intelligence Review","issn_l":"0269-2821","issn":["0269-2821","1573-7462"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Intelligence Review","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10462-021-10041-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068932285","display_name":"Thanh-Trung Nguyen","orcid":"https://orcid.org/0000-0003-3644-209X"},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Trung Nguyen","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology (HUST), Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology (HUST), Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034493423","display_name":"Ngoc-Tam Bui","orcid":"https://orcid.org/0000-0003-0437-6104"},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]},{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["JP","VN"],"is_corresponding":false,"raw_author_name":"Tam Bui","raw_affiliation_strings":["Department of Machinery and Control Systems, Shibaura Institute of Technology, Tokyo, Japan","School of Mechanical Engineering, Hanoi University of Science and Technology (HUST), Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Department of Machinery and Control Systems, Shibaura Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology (HUST), Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015671115","display_name":"Ha Pham","orcid":"https://orcid.org/0000-0001-7727-2125"},"institutions":[{"id":"https://openalex.org/I45756140","display_name":"Hanoi University of Industry","ror":"https://ror.org/05hhz4s12","country_code":"VN","type":"education","lineage":["https://openalex.org/I45756140"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Ha Pham","raw_affiliation_strings":["Faculty of Information Technology, Hanoi University of Industry, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Hanoi University of Industry, Hanoi, Vietnam","institution_ids":["https://openalex.org/I45756140"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068932285"],"corresponding_institution_ids":["https://openalex.org/I94518387"],"apc_list":{"value":2490,"currency":"EUR","value_usd":3090},"apc_paid":{"value":2490,"currency":"EUR","value_usd":3090},"fwci":0.8356,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.6905685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"55","issue":"1","first_page":"679","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9923999905586243,"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":0.9923999905586243,"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":0.9805999994277954,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8235790729522705},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6912425756454468},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.639342725276947},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6113774180412292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6042881011962891},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5694320201873779},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.47450610995292664},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.46334582567214966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46235594153404236},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4572882056236267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43287795782089233},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41932910680770874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4088653326034546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36636966466903687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26170942187309265},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2578466534614563},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09366437792778015}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8235790729522705},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6912425756454468},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.639342725276947},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6113774180412292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042881011962891},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5694320201873779},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.47450610995292664},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.46334582567214966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46235594153404236},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4572882056236267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43287795782089233},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41932910680770874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4088653326034546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36636966466903687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26170942187309265},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2578466534614563},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09366437792778015},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10462-021-10041-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10462-021-10041-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10462-021-10041-z.pdf","source":{"id":"https://openalex.org/S122814990","display_name":"Artificial Intelligence Review","issn_l":"0269-2821","issn":["0269-2821","1573-7462"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Intelligence Review","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10462-021-10041-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10462-021-10041-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10462-021-10041-z.pdf","source":{"id":"https://openalex.org/S122814990","display_name":"Artificial Intelligence Review","issn_l":"0269-2821","issn":["0269-2821","1573-7462"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Intelligence Review","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G5958187588","display_name":null,"funder_award_id":"\u0110T\u0110LCN.28/20","funder_id":"https://openalex.org/F4320309618","funder_display_name":"Ministry of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320309618","display_name":"Ministry of Science and Technology","ror":"https://ror.org/02b207r52"},{"id":"https://openalex.org/F4320323784","display_name":"Asian Institute of Technology","ror":"https://ror.org/0403qcr87"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3179216215.pdf","grobid_xml":"https://content.openalex.org/works/W3179216215.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W1966913471","https://openalex.org/W1970600525","https://openalex.org/W2008349322","https://openalex.org/W2030617846","https://openalex.org/W2037323812","https://openalex.org/W2051877509","https://openalex.org/W2066859702","https://openalex.org/W2085412307","https://openalex.org/W2100790457","https://openalex.org/W2105109294","https://openalex.org/W2135572239","https://openalex.org/W2150575338","https://openalex.org/W2239571531","https://openalex.org/W2348980703","https://openalex.org/W2609279409","https://openalex.org/W2809752599","https://openalex.org/W2942867704","https://openalex.org/W2978514929","https://openalex.org/W2979347123","https://openalex.org/W2980863223","https://openalex.org/W2992048851","https://openalex.org/W3089891704","https://openalex.org/W4211003818","https://openalex.org/W4239086213"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W4231651419","https://openalex.org/W2530785464","https://openalex.org/W4200213857","https://openalex.org/W2541967380","https://openalex.org/W2341081178","https://openalex.org/W3191094858","https://openalex.org/W3094210481","https://openalex.org/W2164870294","https://openalex.org/W4389576990"],"abstract_inverted_index":{"Abstract":[0],"The":[1,81,171,218],"requirement":[2],"to":[3,46,94,106,120,186,206,237,242],"solve":[4,95,121,243],"the":[5,17,25,33,47,52,58,64,74,88,91,108,122,125,141,144,159,182,188,200,208,213,223,229,235,239,244,250,257],"problem":[6,37,53,98,123,210,245],"of":[7,27,35,54,76,79,85,90,139,143,164,173,246,249],"Inverse":[8,55,247],"Kinetics":[9,248],"(IK)":[10],"plays":[11],"a":[12,77,131,149],"very":[13,132],"important":[14],"role":[15],"in":[16,20,24,30,57,83,112,136],"robotics":[18,59],"field":[19,26],"general,":[21],"and":[22,168,211],"especially":[23,67],"rehabilitation":[28,260],"robots,":[29],"particular.":[31],"If":[32],"solutions":[34],"this":[36,102],"are":[38],"not":[39],"suitable,":[40],"it":[41],"can":[42],"cause":[43],"undesirable":[44],"damage":[45],"patient":[48],"when":[49,158],"exercising.":[50],"Normally,":[51],"Kinematics":[56],"field,":[60,66],"as":[61,63,254,256],"well":[62,255],"natural":[65],"for":[68,124],"redundant":[69],"driven":[70],"systems,":[71],"often":[72],"requires":[73],"application":[75],"lot":[78],"techniques.":[80],"redundancy":[82,134],"Degree":[84],"Freedom":[86],"(DoF),":[87],"nonlinearity":[89],"system":[92],"leads":[93],"inverse":[96],"kinematics":[97,184],"more":[99],"challenge.":[100],"In":[101],"study,":[103],"we":[104],"proposed":[105,150,201],"apply":[107,238],"self-adaptive":[109],"control":[110],"parameters":[111],"Differential":[113],"Evolution":[114],"with":[115],"search":[116],"space":[117],"improvement":[118],"(Pro-ISADE)":[119],"human":[126,251],"upper":[127,252,258],"limb,":[128],"which":[129],"is":[130],"typical":[133],"model":[135,185],"nature.":[137],"First":[138],"all,":[140],"angles":[142,176],"joints":[145,177,215],"were":[146,179,197],"measured":[147,175,230],"by":[148],"Exoskeleton":[151],"type":[152],"Human":[153],"Motion":[154],"Capture":[155],"System":[156],"(E-HMCS)":[157],"wearer":[160],"performs":[161],"some":[162],"Activities":[163],"Daily":[165],"Living":[166],"(ADL)":[167],"athletic":[169],"activities.":[170],"values":[172,226],"these":[174,194],"then":[178],"put":[180],"into":[181,199],"forward":[183],"find":[187],"end":[189],"effector":[190],"trajectories.":[191],"After":[192],"having":[193],"orbits,":[195],"they":[196],"re-fed":[198],"Pro-ISADE":[202,240],"algorithm":[203,241],"mentioned":[204],"above":[205],"process":[207],"IK":[209],"obtain":[212],"predicted":[214,224],"angular":[216],"values.":[217,232],"experimental":[219],"results":[220],"showed":[221],"that":[222],"joints\u2019":[225,231],"closely":[227],"follow":[228],"That":[233],"demonstrates":[234],"ability":[236],"limb":[253,259],"robot":[261],"arm.":[262]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}