{"id":"https://openalex.org/W3163784654","doi":"https://doi.org/10.1109/access.2021.3077365","title":"Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot","display_name":"Optimized Design for Cable-Driven Shoulder-Elbow Exoskeleton Robot","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3163784654","doi":"https://doi.org/10.1109/access.2021.3077365","mag":"3163784654"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3077365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3077365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2021.3077365","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100632619","display_name":"Ke Shi","orcid":"https://orcid.org/0000-0001-9149-9000"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Shi","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1982-6780","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346098","display_name":"Huijun Li","orcid":"https://orcid.org/0000-0003-2614-8110"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7034,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.71639597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"68197","last_page":"68207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9993000030517578,"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":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9926000237464905,"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":0.9897000193595886,"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/workspace","display_name":"Workspace","score":0.8948108553886414},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8404841423034668},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6576232314109802},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5838233232498169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5742091536521912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.538123607635498},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.46858710050582886},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4468935430049896},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4234752655029297},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38568124175071716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36693131923675537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33238428831100464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12323221564292908},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11568844318389893}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8948108553886414},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8404841423034668},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6576232314109802},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5838233232498169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5742091536521912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.538123607635498},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.46858710050582886},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4468935430049896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4234752655029297},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38568124175071716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36693131923675537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33238428831100464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12323221564292908},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11568844318389893},{"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},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3077365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3077365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:86051157c8b0496bb5871e51e2fa986f","is_oa":true,"landing_page_url":"https://doaj.org/article/86051157c8b0496bb5871e51e2fa986f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 68197-68207 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3077365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3077365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4184919398","display_name":null,"funder_award_id":"2017YFB1303201","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1972239908","https://openalex.org/W1994031191","https://openalex.org/W2020204128","https://openalex.org/W2033483527","https://openalex.org/W2047673476","https://openalex.org/W2070342389","https://openalex.org/W2113585314","https://openalex.org/W2126663592","https://openalex.org/W2128677843","https://openalex.org/W2135556347","https://openalex.org/W2151420688","https://openalex.org/W2164160147","https://openalex.org/W2165506721","https://openalex.org/W2171685500","https://openalex.org/W2212354831","https://openalex.org/W2522447873","https://openalex.org/W2533599559","https://openalex.org/W2572646513","https://openalex.org/W2769224727","https://openalex.org/W2786591998","https://openalex.org/W3004136924","https://openalex.org/W3155441381","https://openalex.org/W6684014220"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2887985348","https://openalex.org/W4317937281"],"abstract_inverted_index":{"The":[0,38,50,123,181,192],"cable-driven":[1],"exoskeletons":[2],"have":[3,24],"the":[4,32,36,42,64,70,73,78,88,97,116,131,139,150,157,162,169,196,199,208,226],"advantages":[5],"of":[6,31,35,82,84,141,168,210,230],"low":[7,178],"inertia":[8],"and":[9,12,20,27,45,52,68,87,102,106,118,152,154,173,218,228],"simple":[10],"structure,":[11],"they":[13,23],"are":[14,62,184],"widely":[15],"applied":[16],"for":[17,100,130,225],"human":[18,79],"augmentation":[19],"rehabilitation.":[21],"However,":[22],"limited":[25,39],"workspace":[26,51,74,117,206],"tension":[28,53,120,216],"efficiency":[29,54,89,121],"because":[30],"unidirectional":[33],"nature":[34],"cables.":[37],"performance":[40],"affects":[41],"human-robot":[43,231],"interaction":[44,232],"leads":[46],"to":[47,137,155],"potential":[48],"danger.":[49],"can":[55,114],"be":[56],"optimized":[57,132],"by":[58],"conventional":[59],"methods,":[60],"which":[61,176,222],"adjusting":[63],"cable":[65],"attachment":[66],"points":[67],"increasing":[69],"actuators.":[71],"But":[72],"still":[75],"cannot":[76],"cover":[77],"joint":[80,213],"space":[81],"activities":[83,209],"daily":[85,211],"living,":[86],"is":[90,128,223],"also":[91],"not":[92],"high.":[93],"This":[94,112],"paper":[95],"analyzed":[96],"specific":[98],"application":[99],"shoulder":[101],"elbow":[103],"joints":[104],"rehabilitation":[105,234],"proposed":[107],"a":[108,204],"dynamic":[109,124,200],"adaptive":[110,201],"structure.":[111],"design":[113],"increase":[115],"improve":[119,156],"greatly.":[122],"compensation":[125],"control":[126],"strategy":[127],"designed":[129,161],"system.":[133],"Besides,":[134],"in":[135],"order":[136],"reduce":[138],"effects":[140],"compliant":[142],"elements":[143],"(e.g.,":[144],"cables":[145],"or":[146],"Bowden":[147],"cables)":[148],"between":[149],"actuators":[151],"output,":[153],"force":[158,220],"bandwidth,":[159,221],"we":[160],"distributed":[163],"active":[164],"semi-active":[165],"system":[166],"composed":[167],"geared":[170],"DC":[171],"motor":[172],"magnetorheological":[174],"clutches,":[175],"has":[177,203],"output":[179],"inertia.":[180],"related":[182],"experiments":[183],"carried":[185],"out":[186],"based":[187],"on":[188],"several":[189],"healthy":[190],"subjects.":[191],"results":[193],"verified":[194],"that":[195],"exoskeleton":[197],"with":[198],"structure":[202],"large":[205],"covering":[207],"living":[212],"space,":[214],"high":[215,219],"efficiency,":[217],"beneficial":[224],"safety":[227],"comfort":[229],"during":[233],"training.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
