{"id":"https://openalex.org/W4411551020","doi":"https://doi.org/10.1109/access.2025.3582495","title":"Enhanced Design of a Hand Exoskeleton: Balancing Force Transmission and Actuation With Evolutionary Algorithms","display_name":"Enhanced Design of a Hand Exoskeleton: Balancing Force Transmission and Actuation With Evolutionary Algorithms","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411551020","doi":"https://doi.org/10.1109/access.2025.3582495"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3582495","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582495","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2025.3582495","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092486155","display_name":"Baris Akbas","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Baris Akbas","raw_affiliation_strings":["Department of Computer Engineering, Istanbul Technical University, Istanbul, Türkiye","Computer Engineering, İstanbul Technical University, İstanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Istanbul Technical University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Computer Engineering, İstanbul Technical University, İstanbul, Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109919537","display_name":"Huseyin Taner Yuksel","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Huseyin Taner Yuksel","raw_affiliation_strings":["Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","Computer Engineering, Kadir Has University, İstanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I132286405"]},{"raw_affiliation_string":"Computer Engineering, Kadir Has University, İstanbul, Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092486154","display_name":"Aleyna Soylemez","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Aleyna Soylemez","raw_affiliation_strings":["Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","Computer Engineering, Kadir Has University, İstanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I132286405"]},{"raw_affiliation_string":"Computer Engineering, Kadir Has University, İstanbul, Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001130163","display_name":"Mine Sara\u00e7","orcid":"https://orcid.org/0000-0002-2814-7587"},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mine Sarac","raw_affiliation_strings":["Department of Mechatronics Engineering, Kadir Has University, Istanbul, Türkiye","Mechatronics Engineering, Kadir Has University, İstanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-2814-7587","affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Kadir Has University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I132286405"]},{"raw_affiliation_string":"Mechatronics Engineering, Kadir Has University, İstanbul, Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054512048","display_name":"Fabio Stroppa","orcid":"https://orcid.org/0000-0003-2644-2029"},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Fabio Stroppa","raw_affiliation_strings":["Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","Computer Engineering, Kadir Has University, İstanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0003-2644-2029","affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Kadir Has University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I132286405"]},{"raw_affiliation_string":"Computer Engineering, Kadir Has University, İstanbul, Turkey","institution_ids":["https://openalex.org/I132286405"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11468893,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"110418","last_page":"110435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9592999815940857,"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":0.9592999815940857,"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":0.9563000202178955,"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":0.9390000104904175,"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/exoskeleton","display_name":"Exoskeleton","score":0.8448840379714966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6863653063774109},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.46348077058792114},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.442015677690506},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.4352075457572937},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.4167250394821167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.326477974653244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25551217794418335},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12172561883926392}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8448840379714966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6863653063774109},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.46348077058792114},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.442015677690506},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.4352075457572937},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.4167250394821167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.326477974653244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25551217794418335},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12172561883926392}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2025.3582495","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582495","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9cd2c1ac72b44961ae85cded494fa868","is_oa":true,"landing_page_url":"https://doaj.org/article/9cd2c1ac72b44961ae85cded494fa868","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 13, Pp 110418-110435 (2025)","raw_type":"article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/69108","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/69108","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3582495","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3582495","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1638602941","display_name":null,"funder_award_id":"121C147","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"},{"id":"https://openalex.org/G5521191518","display_name":null,"funder_award_id":"121C145","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"},{"id":"https://openalex.org/G8068495696","display_name":"Az Hareketli Bir El D\u0131\u015f \u0130skeleti Tasarlamak I\u00e7in Geli\u015ftirilen Optimizasyon Stratejileri","funder_award_id":"123M690","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1562963886","https://openalex.org/W1565902586","https://openalex.org/W1568834902","https://openalex.org/W1576660662","https://openalex.org/W1595159159","https://openalex.org/W1984762043","https://openalex.org/W2037715433","https://openalex.org/W2065465267","https://openalex.org/W2081934079","https://openalex.org/W2100830227","https://openalex.org/W2126105956","https://openalex.org/W2126265146","https://openalex.org/W2152195021","https://openalex.org/W2153654820","https://openalex.org/W2157809688","https://openalex.org/W2167580870","https://openalex.org/W2207371276","https://openalex.org/W2343472016","https://openalex.org/W2530469066","https://openalex.org/W2547092166","https://openalex.org/W2575982227","https://openalex.org/W2605035932","https://openalex.org/W2609270279","https://openalex.org/W2657582327","https://openalex.org/W2789282724","https://openalex.org/W2888660256","https://openalex.org/W2890381573","https://openalex.org/W2891075170","https://openalex.org/W2935084327","https://openalex.org/W2943498367","https://openalex.org/W2967783393","https://openalex.org/W2969480053","https://openalex.org/W2988003450","https://openalex.org/W3001899538","https://openalex.org/W3007855608","https://openalex.org/W3017975892","https://openalex.org/W3036156867","https://openalex.org/W3046910774","https://openalex.org/W3094553628","https://openalex.org/W3113346182","https://openalex.org/W3119776293","https://openalex.org/W3130894379","https://openalex.org/W3133584254","https://openalex.org/W3157297207","https://openalex.org/W3195441736","https://openalex.org/W3206888358","https://openalex.org/W3211534073","https://openalex.org/W3213937200","https://openalex.org/W3217567895","https://openalex.org/W4206195644","https://openalex.org/W4226194912","https://openalex.org/W4280569608","https://openalex.org/W4292862403","https://openalex.org/W4298363619","https://openalex.org/W4300681183","https://openalex.org/W4311378275","https://openalex.org/W4311688509","https://openalex.org/W4312309158","https://openalex.org/W4312503839","https://openalex.org/W4312691472","https://openalex.org/W4384558147","https://openalex.org/W4389607081","https://openalex.org/W4391468333","https://openalex.org/W4401417381","https://openalex.org/W4401692610","https://openalex.org/W4402687231","https://openalex.org/W4405709970","https://openalex.org/W4410035698","https://openalex.org/W6600445832","https://openalex.org/W6631460888","https://openalex.org/W6635097213","https://openalex.org/W6637560321","https://openalex.org/W6678845729","https://openalex.org/W6705137225"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W2557545276","https://openalex.org/W2145159484","https://openalex.org/W2884239075"],"abstract_inverted_index":{"Exoskeletons":[0],"can":[1],"boost":[2],"human":[3],"strength":[4],"and":[5,16,33,85,102,111,122,169,205],"provide":[6,200],"assistance":[7],"to":[8,64,145,193],"individuals":[9],"with":[10,130],"physical":[11,47],"disabilities.":[12],"However,":[13],"ensuring":[14,31],"safety":[15,32],"optimal":[17],"performance":[18,35],"in":[19,36,126],"their":[20,103],"design":[21,38,197],"poses":[22],"substantial":[23],"challenges.":[24],"This":[25],"study":[26],"addresses":[27],"significant":[28,191],"challenges":[29],"of":[30,78,128,142,164,178],"maximizing":[34,58],"the":[37,62,65,76,82,86,97,146,154,158,162,166,175],"process":[39,159],"for":[40,46,105,153],"an":[41],"underactuated":[42],"hand":[43],"exoskeleton":[44],"intended":[45],"rehabilitation.":[48],"We":[49],"first":[50],"implemented":[51],"a":[52,94,140,190],"single":[53],"objective":[54],"optimization":[55,72,91,167,181],"problem":[56],"by":[57,73],"force":[59],"transmission":[60],"from":[61],"actuator":[63,87],"finger":[66,83],"joints,":[67],"then":[68],"expanded":[69],"into":[70],"multi-objective":[71,106],"also":[74],"minimizing":[75],"variance":[77],"torques":[79],"rendered":[80],"on":[81,93],"joints":[84],"displacement":[88],"needed.":[89],"The":[90],"relies":[92],"Genetic":[95],"Algorithm,":[96,101],"Big":[98,117],"Bang-Big":[99,118],"Crunch":[100,119],"versions":[104],"optimization.":[107],"Our":[108],"simulation":[109],"results":[110,125],"statistical":[112],"analyses":[113],"revealed":[114],"that":[115,198],"using":[116],"provides":[120],"high":[121],"more":[123,137,201],"consistent":[124],"terms":[127],"optimality":[129],"lower":[131],"convergence":[132],"time.":[133],"In":[134],"addition,":[135],"adding":[136],"objectives":[138,155],"offers":[139],"variety":[141],"trade-off":[143],"solutions":[144],"designers,":[147],"who":[148],"might":[149],"later":[150],"set":[151],"priorities":[152],"without":[156],"repeating":[157],"\u2013":[160],"at":[161],"cost":[163],"complicating":[165],"algorithm":[168],"computational":[170],"burden.":[171],"These":[172],"findings":[173],"underline":[174],"critical":[176],"importance":[177],"performing":[179],"proper":[180],"techniques":[182],"while":[183],"designing":[184],"exoskeletons,":[185],"as":[186,188],"well":[187],"providing":[189],"improvement":[192],"this":[194],"specific":[195],"robotic":[196],"could":[199],"effective":[202],"rehabilitation":[203],"therapies":[204],"augmented":[206],"human-robot":[207],"interactions.":[208]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}