{"id":"https://openalex.org/W2065344024","doi":"https://doi.org/10.1109/aim.2013.6584191","title":"Optimization of a redundant 4R robot for a shoulder exoskeleton","display_name":"Optimization of a redundant 4R robot for a shoulder exoskeleton","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2065344024","doi":"https://doi.org/10.1109/aim.2013.6584191","mag":"2065344024"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2013.6584191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5003453445","display_name":"Ho Shing Lo","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Ho Shing Lo","raw_affiliation_strings":["Mechanical Engineering Department, University of Auckland, Auckland, New Zealand","Mech. Eng. Dept., Univ. of Auckland, Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Shane S. Q. Xie","raw_affiliation_strings":["Mechanical Engineering Department, University of Auckland, Auckland, New Zealand","Mech. Eng. Dept., Univ. of Auckland, Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003453445"],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":0.9992,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76356503,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"798","last_page":"803"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9966999888420105,"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":0.9966999888420105,"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":0.9879999756813049,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9767000079154968,"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/revolute-joint","display_name":"Revolute joint","score":0.9565303325653076},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8517693877220154},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6090037822723389},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5804925560951233},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5715087652206421},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5685629844665527},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.563077449798584},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5196360349655151},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.4621952176094055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45743328332901},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3444942831993103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30338728427886963},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2634226679801941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18425393104553223},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15592119097709656},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07563731074333191}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9565303325653076},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8517693877220154},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6090037822723389},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5804925560951233},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5715087652206421},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5685629844665527},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.563077449798584},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5196360349655151},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.4621952176094055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45743328332901},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3444942831993103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30338728427886963},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2634226679801941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18425393104553223},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15592119097709656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07563731074333191},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2013.6584191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1963701169","https://openalex.org/W1994126079","https://openalex.org/W1999165127","https://openalex.org/W2064906895","https://openalex.org/W2071000950","https://openalex.org/W2086604372","https://openalex.org/W2090238920","https://openalex.org/W2096347511","https://openalex.org/W2107848589","https://openalex.org/W2126663592","https://openalex.org/W2151078966","https://openalex.org/W2246023205","https://openalex.org/W4236950858","https://openalex.org/W6682007641"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W1992503747","https://openalex.org/W2890977713","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2482353049","https://openalex.org/W2090392331","https://openalex.org/W2138030819","https://openalex.org/W3122438115","https://openalex.org/W2312844074"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,12,133,197],"optimized":[4,187],"redundant":[5,61,88],"4-revolute":[6],"(4R)":[7],"spherical":[8,27,33],"wrist":[9,28],"mechanism":[10,29,42,95,115,150],"for":[11],"active":[13],"shoulder":[14,37],"exoskeleton.":[15],"Upper":[16],"limb":[17],"exoskeletons":[18],"in":[19,46,80],"the":[20,32,36,48,53,81,93,111,114,123,142,148,163,172,180,186,193],"past":[21],"have":[22,97],"used":[23,130],"a":[24,40,60,76,98],"3-revolute":[25],"(3R)":[26],"to":[30,51,67,122,131],"replicate":[31],"movements":[34],"of":[35,59,78,86,92,100,113,136,167],"joint.":[38],"However,":[39,72],"3R":[41,194],"has":[43],"singular":[44,70,155],"configurations":[45,85,145,170],"which":[47,146],"exoskeleton's":[49],"ability":[50],"orient":[52],"end-effector":[54],"degrades":[55],"significantly.":[56],"The":[57,90,174],"addition":[58],"4th":[62],"revolute":[63],"joint":[64,84,107,144],"is":[65,129,159],"proposed":[66],"avoid":[68],"these":[69],"configurations.":[71,156],"there":[73,118],"can":[74,96],"be":[75],"lot":[77],"variability":[79],"design":[82,91,189,195],"and":[83,105,140,179,196],"this":[87],"mechanism.":[89],"4R":[94,149,188,199],"range":[99],"possible":[101],"link":[102,137],"angle":[103,138],"sizes":[104,139],"base":[106],"positions.":[108],"In":[109],"addition,":[110],"redundancy":[112],"indicates":[116],"that":[117,185],"are":[119],"infinite":[120],"solutions":[121],"inverse":[124],"kinematic":[125],"problem.":[126],"Genetic":[127],"algorithm":[128],"obtain":[132],"optimal":[134,143],"set":[135],"identify":[141],"ensure":[147],"operates":[151],"well":[152],"away":[153],"from":[154],"Singularity":[157],"analysis":[158],"done":[160],"by":[161],"evaluating":[162],"condition":[164,176],"number":[165,177],"(CN)":[166],"89":[168],"discrete":[169],"throughout":[171],"workspace.":[173],"global":[175],"(GCN)":[178],"maximum":[181],"CN":[182],"values":[183],"confirm":[184],"performs":[190],"better":[191],"than":[192],"un-optimized":[198],"design.":[200]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
