{"id":"https://openalex.org/W4416748879","doi":"https://doi.org/10.1109/access.2025.3638162","title":"Design of a Novel Flat Cycloidal-Planetary Series Reducer and Experimental Assessment for Assistive Exoskeletons Actuation-CYPLO","display_name":"Design of a Novel Flat Cycloidal-Planetary Series Reducer and Experimental Assessment for Assistive Exoskeletons Actuation-CYPLO","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416748879","doi":"https://doi.org/10.1109/access.2025.3638162"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3638162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3638162","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.2025.3638162","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092271748","display_name":"Riccardo Bezzini","orcid":"https://orcid.org/0009-0007-9934-4952"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Bezzini","raw_affiliation_strings":["Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0007-9934-4952","affiliations":[{"raw_affiliation_string":"Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079484703","display_name":"Giulia Bassani","orcid":"https://orcid.org/0000-0002-8359-6166"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Bassani","raw_affiliation_strings":["Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8359-6166","affiliations":[{"raw_affiliation_string":"Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086535808","display_name":"Carlo Alberto Avizzano","orcid":"https://orcid.org/0000-0001-5802-541X"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Avizzano","raw_affiliation_strings":["Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024324481","display_name":"Alessandro Filippeschi","orcid":"https://orcid.org/0000-0001-6078-6429"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Filippeschi","raw_affiliation_strings":["Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Intelligence, Scuola Superiore Sant’Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.4905,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69314522,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"202619","last_page":"202631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9768000245094299,"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":0.9768000245094299,"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":0.0052999998442828655,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.00279999990016222,"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/reducer","display_name":"Reducer","score":0.8319000005722046},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7404999732971191},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6693000197410583},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5376999974250793},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5144000053405762},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4544000029563904},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4180999994277954},{"id":"https://openalex.org/keywords/assistive-device","display_name":"Assistive device","score":0.3779999911785126}],"concepts":[{"id":"https://openalex.org/C2776985865","wikidata":"https://www.wikidata.org/wiki/Q26820931","display_name":"Reducer","level":2,"score":0.8319000005722046},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7404999732971191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7384999990463257},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6693000197410583},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5376999974250793},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5144000053405762},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4180999994277954},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3864000141620636},{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.3779999911785126},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3727000057697296},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.37040001153945923},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.3000999987125397},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.295199990272522},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.25940001010894775}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2025.3638162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3638162","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:www.iris.sssup.it:11382/587777","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/587777","pdf_url":"https://www.iris.sssup.it/bitstream/11382/587777/1/Design_of_a_Novel_Flat_Cycloidal-Planetary_Series_Reducer_and_Experimental_Assessment_for_Assistive_Exoskeletons_Actuation-CYPLO.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:71acc4ea0a6840b9a93515bf8d8e511d","is_oa":true,"landing_page_url":"https://doaj.org/article/71acc4ea0a6840b9a93515bf8d8e511d","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 202619-202631 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3638162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3638162","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":[],"awards":[{"id":"https://openalex.org/G7477258482","display_name":null,"funder_award_id":"IR0000036","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320324216","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,23,180],"recent":[1],"advancements":[2],"in":[3,10,55,82,134,176],"assistive":[4,57,193],"exoskeletons":[5],"have":[6,50],"highlighted":[7],"their":[8,31],"effectiveness":[9],"reducing":[11],"the":[12,62,65,73,83,106,135,169],"users\u2019":[13],"metabolic":[14],"consumption,":[15],"providing":[16],"functional":[17],"compensation,":[18],"and":[19,34,40,125,138,159,172,203],"preventing":[20],"biomechanical":[21],"overloads.":[22],"exoskeletons\u2019":[24],"transmission":[25,68,144,185],"mechanisms":[26],"are":[27],"essential":[28],"for":[29,142,191,196],"guaranteeing":[30],"effectiveness,":[32],"safety,":[33],"comfort.":[35],"Therefore,":[36],"lightweight,":[37],"efficient,":[38],"backdriveable,":[39],"minimally":[41],"bulky":[42,81],"reduction":[43,198],"gearboxes":[44,174],"with":[45,166],"low":[46],"mechanical":[47],"output":[48],"impedance":[49],"become":[51],"a":[52,91,100,109,188],"widespread":[53],"choice":[54],"modular":[56],"exoskeletons.":[58],"In":[59,86],"previous":[60,74,170],"works,":[61],"value":[63],"of":[64,108],"cycloid-planetary":[66],"series":[67,95],"has":[69,152],"been":[70,153],"assessed.":[71],"However,":[72],"design":[75,113],"turned":[76],"out":[77],"to":[78,162,168],"be":[79],"too":[80],"axial":[84,136],"direction.":[85],"this":[87,149,184],"paper,":[88],"we":[89],"propose":[90],"novel":[92,150],"CYcloidal-PLanetary":[93],"cOncentric":[94],"combination":[96],"(CYPLO)":[97],"that":[98,183],"exploits":[99],"compact-cam":[101],"cycloidal":[102],"architecture":[103,186],"nested":[104],"inside":[105],"sun":[107],"planetary":[110],"stage.":[111],"This":[112],"enables":[114],"valuable":[115],"performance":[116,165],"regarding":[117],"key":[118],"gearbox":[119],"features":[120],"such":[121],"as":[122],"regularity,":[123],"friction,":[124],"gear":[126],"play,":[127],"while":[128,200],"maintaining":[129,201],"an":[130],"extremely":[131],"advantageous":[132],"compactness":[133,202],"direction":[137],"significant":[139],"backdriveability":[140],"even":[141],"high":[143,197],"ratios.":[145],"A":[146],"reducer":[147],"implementing":[148],"solution":[151,190],"designed,":[154],"developed":[155],"through":[156],"3D":[157],"printing,":[158],"examined":[160],"experimentally":[161],"evaluate":[163],"its":[164],"respect":[167],"designs":[171],"state-of-the-art":[173],"employed":[175],"wearable":[177],"devices\u2019":[178],"actuators.":[179],"results":[181],"show":[182],"represents":[187],"valid":[189],"lightweight":[192],"exoskeletons,":[194],"allowing":[195],"ratios":[199],"backdriveability.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}