{"id":"https://openalex.org/W4409111322","doi":"https://doi.org/10.1017/s0263574725000335","title":"A methodology to quantify human-robot interaction forces: a case study of a 4-DOFs upper extremity rehabilitation robot","display_name":"A methodology to quantify human-robot interaction forces: a case study of a 4-DOFs upper extremity rehabilitation robot","publication_year":2025,"publication_date":"2025-04-01","ids":{"openalex":"https://openalex.org/W4409111322","doi":"https://doi.org/10.1017/s0263574725000335"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725000335","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000335","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5074708279","display_name":"Qiang Cao","orcid":"https://orcid.org/0000-0001-8654-0195"},"institutions":[{"id":"https://openalex.org/I4210156189","display_name":"Shanghai Dianji University","ror":"https://ror.org/055fene14","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210156189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Cao","raw_affiliation_strings":["Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I4210156189"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Li","orcid":"https://orcid.org/0009-0000-4680-335X"},"institutions":[{"id":"https://openalex.org/I4210156189","display_name":"Shanghai Dianji University","ror":"https://ror.org/055fene14","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210156189"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Li","raw_affiliation_strings":["The College of Machine, Shanghai DianJi University, Shanghai, 201306, China"],"raw_orcid":"https://orcid.org/0009-0000-4680-335X","affiliations":[{"raw_affiliation_string":"The College of Machine, Shanghai DianJi University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I4210156189"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462019","display_name":"Jianfeng Li","orcid":"https://orcid.org/0000-0002-4338-6420"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Li","raw_affiliation_strings":["The College of Mechanical Engineering and Applied Electronic Technology, Beijing University of Technology, Beijing, 100124, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The College of Mechanical Engineering and Applied Electronic Technology, Beijing University of Technology, Beijing, 100124, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448621","display_name":"Rui Li","orcid":"https://orcid.org/0000-0003-2119-3721"},"institutions":[{"id":"https://openalex.org/I4210156189","display_name":"Shanghai Dianji University","ror":"https://ror.org/055fene14","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210156189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Li","raw_affiliation_strings":["Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I4210156189"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100333846","display_name":"Xun Wang","orcid":"https://orcid.org/0000-0001-9399-3977"},"institutions":[{"id":"https://openalex.org/I4210156189","display_name":"Shanghai Dianji University","ror":"https://ror.org/055fene14","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210156189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun Wang","raw_affiliation_strings":["Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kaiserslautern Academy of Smart Manufacturing, Shanghai DianJi University, Shanghai, 201306, China","institution_ids":["https://openalex.org/I4210156189"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210156189"],"apc_list":null,"apc_paid":null,"fwci":1.8329,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.84790853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"43","issue":"4","first_page":"1469","last_page":"1490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9950000047683716,"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":0.9909999966621399,"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/robot","display_name":"Robot","score":0.6113250851631165},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5349188446998596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4696311950683594},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4561161696910858},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.406648188829422},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36818626523017883},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3528459072113037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3382967710494995},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33807650208473206},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.321174681186676},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.16958269476890564},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1493273675441742}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6113250851631165},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5349188446998596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4696311950683594},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4561161696910858},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.406648188829422},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36818626523017883},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3528459072113037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3382967710494995},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33807650208473206},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.321174681186676},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.16958269476890564},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1493273675441742}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725000335","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725000335","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1982320228","https://openalex.org/W1986707268","https://openalex.org/W1989448712","https://openalex.org/W1998929404","https://openalex.org/W2003269587","https://openalex.org/W2068843507","https://openalex.org/W2069269081","https://openalex.org/W2071850367","https://openalex.org/W2084524231","https://openalex.org/W2088709318","https://openalex.org/W2133770463","https://openalex.org/W2134525555","https://openalex.org/W2621829712","https://openalex.org/W2751720054","https://openalex.org/W2752978120","https://openalex.org/W2765254332","https://openalex.org/W2781994560","https://openalex.org/W2789759068","https://openalex.org/W2887893628","https://openalex.org/W2956637127","https://openalex.org/W2970722543","https://openalex.org/W2988003450","https://openalex.org/W2992291596","https://openalex.org/W2999568259","https://openalex.org/W3010865542","https://openalex.org/W3012487537","https://openalex.org/W3014883847","https://openalex.org/W3023228812","https://openalex.org/W3034092469","https://openalex.org/W3039597931","https://openalex.org/W3076470081","https://openalex.org/W3094989165","https://openalex.org/W3096044642","https://openalex.org/W3108641221","https://openalex.org/W3113344583","https://openalex.org/W3119279663","https://openalex.org/W3195478201","https://openalex.org/W4254806086","https://openalex.org/W4286490871","https://openalex.org/W4321612058","https://openalex.org/W4367024528","https://openalex.org/W4367302264","https://openalex.org/W6744149466","https://openalex.org/W6774585061"],"related_works":["https://openalex.org/W2065866188","https://openalex.org/W2468580946","https://openalex.org/W2064410155","https://openalex.org/W2331071954","https://openalex.org/W2360512056","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Abstract":[0],"Upper":[1],"extremity":[2,45],"rehabilitation":[3,10,46,126,143,152],"robots":[4,30],"have":[5],"become":[6],"crucial":[7],"in":[8,23,123],"stroke":[9],"due":[11],"to":[12,91],"their":[13],"high":[14],"durability,":[15],"repeatability,":[16],"and":[17,82,140],"task-specific":[18],"capabilities.":[19],"A":[20,74],"significant":[21,146],"challenge":[22],"assessing":[24],"the":[25,34,52,77,93,96,105],"comfort":[26,138],"performance":[27],"of":[28,76,85,95,142],"these":[29],"is":[31,56,69,80],"accurately":[32],"calculating":[33],"human-robot":[35,66],"interaction":[36,67,110],"forces.":[37],"In":[38],"this":[39,60],"study,":[40],"a":[41,83,131],"four-degree-of-freedom":[42],"(4-DOF)":[43],"upper":[44,54,124],"robot":[47,79],"mechanism,":[48,61],"kinematically":[49],"compatible":[50],"with":[51,112,145],"human":[53],"limb,":[55],"proposed.":[57],"Based":[58],"on":[59,137],"an":[62],"algorithm":[63],"for":[64,121,133,149],"estimating":[65],"forces":[68,111],"developed":[70],"using":[71],"Newton-Euler":[72],"dynamics.":[73],"prototype":[75],"proposed":[78,97,106],"constructed,":[81],"series":[84],"comparative":[86],"experiments":[87],"are":[88],"carried":[89],"out":[90],"validate":[92],"feasibility":[94],"force":[98],"estimation":[99],"approach.":[100],"The":[101],"results":[102],"indicate":[103],"that":[104],"method":[107],"reliably":[108],"predicts":[109],"minimal":[113],"deviation":[114],"from":[115],"experimental":[116],"data,":[117],"demonstrating":[118],"its":[119],"potential":[120],"application":[122],"limb":[125],"robots.":[127],"This":[128],"work":[129],"provides":[130],"foundation":[132],"future":[134],"studies":[135],"focused":[136],"evaluation":[139],"optimization":[141],"robots,":[144],"practical":[147],"implications":[148],"improving":[150],"patient":[151],"outcomes.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-10-10T00:00:00"}
