{"id":"https://openalex.org/W1581016548","doi":"https://doi.org/10.1108/ijicc-10-2013-0047","title":"Ergonomic design of a wrist robot","display_name":"Ergonomic design of a wrist robot","publication_year":2014,"publication_date":"2014-07-29","ids":{"openalex":"https://openalex.org/W1581016548","doi":"https://doi.org/10.1108/ijicc-10-2013-0047","mag":"1581016548"},"language":"en","primary_location":{"id":"doi:10.1108/ijicc-10-2013-0047","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ijicc-10-2013-0047","pdf_url":null,"source":{"id":"https://openalex.org/S124503262","display_name":"International Journal of Intelligent Computing and Cybernetics","issn_l":"1756-378X","issn":["1756-378X","1756-3798"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Computing and Cybernetics","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/A5101416517","display_name":"Mohammad Esmaeili","orcid":"https://orcid.org/0000-0003-3026-6910"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohammad Esmaeili","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","NTU - Nanyang Technological University [Singapour] (50 Nanyang Ave, Singapour 639798 - Singapore)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"NTU - Nanyang Technological University [Singapour] (50 Nanyang Ave, Singapour 639798 - Singapore)","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057665161","display_name":"Nathana\u00ebl Jarrass\u00e9","orcid":"https://orcid.org/0000-0002-5680-1566"},"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/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nathana\u00ebl Jarrass\u00e9","raw_affiliation_strings":["CNRS, UMR 7222, ISIR, Paris, France; Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, Paris, France and INSERM, U1150, Agathe-ISIR, Paris, France","ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","AGATHE - Assistance aux Gestes et Applications THErapeutiques (4 place Jussieu 75232 Paris Cedex 05 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, UMR 7222, ISIR, Paris, France; Sorbonne Universit\u00e9s, UPMC Univ Paris 06, UMR 7222, ISIR, Paris, France and INSERM, U1150, Agathe-ISIR, Paris, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ISIR - Institut des Syst\u00e8mes Intelligents et de Robotique (Sorbonne-Universit\u00e9, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05 - France)","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"AGATHE - Assistance aux Gestes et Applications THErapeutiques (4 place Jussieu 75232 Paris Cedex 05 - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005939864","display_name":"Wayne Dailey","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wayne Dailey","raw_affiliation_strings":["Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","Imperial College London (South Kensington Campus, London SW7 2AZ - United Kingdom)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College London (South Kensington Campus, London SW7 2AZ - United Kingdom)","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025807459","display_name":"Etienne Burdet","orcid":"https://orcid.org/0000-0002-2123-0185"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Etienne Burdet","raw_affiliation_strings":["Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","Imperial College London (South Kensington Campus, London SW7 2AZ - United Kingdom)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, UK","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Imperial College London (South Kensington Campus, London SW7 2AZ - United Kingdom)","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079258091","display_name":"Domenico Campolo","orcid":"https://orcid.org/0000-0001-6930-0413"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Domenico Campolo","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","NTU - Nanyang Technological University [Singapour] (50 Nanyang Ave, Singapour 639798 - Singapore)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"NTU - Nanyang Technological University [Singapour] (50 Nanyang Ave, Singapour 639798 - Singapore)","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1579,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49341624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":"3","first_page":"289","last_page":"306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.998199999332428,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7383541464805603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6937364339828491},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6701079607009888},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.6415905952453613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.578995943069458},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.48784875869750977},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4651336073875427},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.456329345703125},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35230469703674316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2763543725013733},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1506531536579132},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09568801522254944}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7383541464805603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6937364339828491},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6701079607009888},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.6415905952453613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.578995943069458},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48784875869750977},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4651336073875427},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.456329345703125},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35230469703674316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2763543725013733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1506531536579132},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09568801522254944},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/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":2,"locations":[{"id":"doi:10.1108/ijicc-10-2013-0047","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ijicc-10-2013-0047","pdf_url":null,"source":{"id":"https://openalex.org/S124503262","display_name":"International Journal of Intelligent Computing and Cybernetics","issn_l":"1756-378X","issn":["1756-378X","1756-3798"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Computing and Cybernetics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02110318v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02110318","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Intelligent Computing and Cybernetics, 2014, 7 (3), pp.289-306. ⟨10.1108/IJICC-10-2013-0047⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1782625663","https://openalex.org/W1971214963","https://openalex.org/W1975119034","https://openalex.org/W1994377367","https://openalex.org/W2032743668","https://openalex.org/W2038630298","https://openalex.org/W2048193107","https://openalex.org/W2052647226","https://openalex.org/W2055673504","https://openalex.org/W2059967088","https://openalex.org/W2077878465","https://openalex.org/W2084524231","https://openalex.org/W2100970834","https://openalex.org/W2110200899","https://openalex.org/W2119010034","https://openalex.org/W2120557068","https://openalex.org/W2134270761","https://openalex.org/W2135556347","https://openalex.org/W2167623624","https://openalex.org/W2187332592"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W4233260495","https://openalex.org/W3094485622","https://openalex.org/W2519742261","https://openalex.org/W4200457072"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,40,153,203,253],"The":[2,23,134,204],"purpose":[3],"of":[4,20,29,44,46,129,131,148,164,180,186,216,218,230,239,266],"this":[5,255],"paper":[6,122,256],"is":[7,49,58,144,170,174,190],"to":[8,12,51,61,73,115,157,176,225,235],"propose":[9],"a":[10,36,91,149],"method":[11],"avoid":[13,158,243],"hyperstaticity":[14,30,106,159,267],"and":[15,54,70,102,137,160,183,242,272],"eventually":[16],"reduce":[17,161,177,236],"the":[18,27,42,66,74,83,119,125,132,140,162,168,181,187,213,227,237,249,258,261,264],"magnitude":[19,238],"undesired":[21,165],"force/torques.":[22],"authors":[24,262],"also":[25,191,222],"study":[26,263],"influence":[28],"on":[31,124,268],"human":[32,67,101,198,273],"motor":[33,199,246,274],"control":[34],"during":[35,248],"redundant":[37],"task.":[38],"Design/methodology/approach":[39],"Increasing":[41],"level":[43,163],"transparency":[45],"robotic":[47,62,103,250],"interfaces":[48],"critical":[50],"haptic":[52],"investigations":[53],"applications.":[55],"This":[56,121,172],"issue":[57],"particularly":[59],"important":[60],"structures":[63],"that":[64],"mimic":[65],"counterpart's":[68],"morphology":[69],"attach":[71],"directly":[72],"limb.":[75],"Problems":[76],"arise":[77],"for":[78,257],"complex":[79],"joints":[80],"such":[81,96],"as":[82],"wrist,":[84],"which":[85],"cannot":[86],"be":[87,208,223],"accurately":[88],"matched":[89],"with":[90,111],"traditional":[92],"mechanical":[93,98],"joint.":[94,120],"In":[95,254],"cases,":[97],"differences":[99],"between":[100],"joint":[104],"cause":[105],"(i.e.":[107],"over-constrained)":[108],"which,":[109],"coupled":[110],"kinematic":[112],"misalignment,":[113],"leads":[114],"uncontrolled":[116],"force/torque":[117,166],"at":[118],"focusses":[123],"prono-supination":[126],"(PS)":[127],"degree":[128],"freedom":[130],"forearm.":[133],"overall":[135],"force":[136,182],"torque":[138],"in":[139,167,212,233,245],"wrist":[141,150,169],"PS":[142],"rotation":[143],"quantified":[145],"by":[146],"means":[147],"robot.":[151],"Findings":[152],"A":[154],"practical":[155],"solution":[156,206],"presented.":[171],"technique":[173],"shown":[175,192],"75":[178],"percent":[179,185],"68":[184],"torque.":[188],"It":[189,220],"an":[193],"over-constrained":[194],"mechanism":[195],"could":[196,207,221],"alter":[197],"strategies.":[200,275],"Practical":[201],"implications":[202],"presented":[205],"taken":[209],"into":[210],"account":[211],"early":[214],"phase":[215],"design":[217],"robots.":[219],"applied":[224],"modify":[226],"fixation":[228],"points":[229],"commercial":[231],"robots":[232],"order":[234],"reaction":[240,270],"forces":[241,271],"changes":[244],"strategy":[247],"therapy.":[251],"Originality/value":[252],"first":[259],"time":[260],"effect":[265],"both":[269]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}