{"id":"https://openalex.org/W4385482529","doi":"https://doi.org/10.1109/aim46323.2023.10196192","title":"A Reliable Kinematic Measurement of Upper Limb Exoskeleton for VR Therapy with Visual-inertial Sensors","display_name":"A Reliable Kinematic Measurement of Upper Limb Exoskeleton for VR Therapy with Visual-inertial Sensors","publication_year":2023,"publication_date":"2023-06-28","ids":{"openalex":"https://openalex.org/W4385482529","doi":"https://doi.org/10.1109/aim46323.2023.10196192"},"language":"en","primary_location":{"id":"doi:10.1109/aim46323.2023.10196192","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim46323.2023.10196192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003674027","display_name":"Thomas M. Kwok","orcid":"https://orcid.org/0000-0002-4329-274X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thomas M. Kwok","raw_affiliation_strings":["National University of Singapore,Integrative Sciences and Engineering Programme, NUS Graduate School,Singapore","Integrative Sciences and Engineering Programme, NUS Graduate School, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Integrative Sciences and Engineering Programme, NUS Graduate School,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Integrative Sciences and Engineering Programme, NUS Graduate School, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100359050","display_name":"Tong Li","orcid":"https://orcid.org/0000-0003-1735-9055"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tong Li","raw_affiliation_strings":["National University of Singapore,Dept. of Biomedical Engineering,Singapore","Dept. of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Biomedical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["National University of Singapore,Dept. of Biomedical Engineering,Singapore","Dept. of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Biomedical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"69","issue":null,"first_page":"584","last_page":"590"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"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":0.9997000098228455,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"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/exoskeleton","display_name":"Exoskeleton","score":0.879830002784729},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8304803371429443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5273029804229736},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5121219158172607},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.4637627601623535},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4353669285774231},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33819323778152466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3310513198375702},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.29064100980758667},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.17695924639701843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1617836058139801},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06366655230522156}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.879830002784729},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8304803371429443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5273029804229736},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5121219158172607},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.4637627601623535},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4353669285774231},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33819323778152466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3310513198375702},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29064100980758667},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.17695924639701843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1617836058139801},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06366655230522156},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim46323.2023.10196192","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim46323.2023.10196192","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1966869460","https://openalex.org/W1982221577","https://openalex.org/W1990317285","https://openalex.org/W2000325557","https://openalex.org/W2011518747","https://openalex.org/W2026394380","https://openalex.org/W2075557971","https://openalex.org/W2075837021","https://openalex.org/W2088806978","https://openalex.org/W2098089040","https://openalex.org/W2106468536","https://openalex.org/W2154437362","https://openalex.org/W2402297854","https://openalex.org/W2461421875","https://openalex.org/W2533599559","https://openalex.org/W2613959249","https://openalex.org/W2894445978","https://openalex.org/W2905283021","https://openalex.org/W2946772588","https://openalex.org/W2964279366","https://openalex.org/W2978079838","https://openalex.org/W2981803971","https://openalex.org/W2993732640","https://openalex.org/W3004487379","https://openalex.org/W3004774748","https://openalex.org/W3005388458","https://openalex.org/W3008211275","https://openalex.org/W3013415181","https://openalex.org/W3092192237","https://openalex.org/W3107433031","https://openalex.org/W3117762333","https://openalex.org/W3174775062","https://openalex.org/W3187299261","https://openalex.org/W3204090911","https://openalex.org/W3216440402","https://openalex.org/W4223438378","https://openalex.org/W4247748606","https://openalex.org/W4285102421","https://openalex.org/W6757443869","https://openalex.org/W6784706783"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2590554196","https://openalex.org/W2593563634","https://openalex.org/W4200596012"],"abstract_inverted_index":{"Virtual":[0],"reality":[1],"(VR)":[2],"is":[3,33],"a":[4,9,21,28,69,148],"powerful":[5],"technology":[6],"that":[7,120,168],"provides":[8],"structured":[10],"and":[11,59,63,71,80,105,147,176],"safe":[12],"environment":[13],"for":[14,36,83,97,205],"ADL":[15],"training,":[16],"allowing":[17],"patients":[18],"to":[19,48],"have":[20],"similar":[22,171],"experience":[23],"as":[24,53,134],"real-world":[25,190],"training.":[26,38],"However,":[27],"limited":[29,46],"robot":[30,43,99],"sensing":[31,73,91,114,185,195],"system":[32,74,92,196],"proven":[34],"reliable":[35,72],"such":[37,52],"The":[39],"effectiveness":[40],"of":[41,57,76,163],"current":[42],"sensors":[44,82,140],"was":[45],"due":[47],"inherent":[49],"technical":[50],"problems,":[51],"the":[54,84,109,126,135,160,180,189,202],"installation":[55],"challenges":[56],"encoders":[58,79],"IMU\u2019s":[60],"drifting,":[61],"acceleration,":[62],"magnetic":[64],"issues.":[65],"Thus,":[66,192],"we":[67],"propose":[68],"novel":[70],"consisting":[75],"absolute":[77],"rotary":[78],"visual-inertial":[81,139],"upper-limb":[85,203],"exoskeleton":[86,204],"in":[87,125,179,201],"VR":[88,127,181,206],"therapy.":[89,207],"Our":[90],"has":[93],"demonstrated":[94],"angle":[95],"measurement":[96],"various":[98],"joint":[100,174,177],"types,":[101],"including":[102],"hinge,":[103],"ball,":[104],"revolute":[106],"joints":[107],"along":[108],"limb\u2019s":[110],"longitudinal":[111],"axis.":[112],"Its":[113],"feedback":[115],"can":[116,197],"construct":[117],"virtual":[118,123],"arms":[119],"interact":[121],"with":[122,132,183,188],"objects":[124],"environment.":[128],"In":[129],"our":[130,138,184,193],"experiments,":[131],"Vicon":[133],"ground":[136],"truth,":[137],"achieved":[141],"root-mean-square":[142],"errors":[143],"smaller":[144],"than":[145],"2.3491\u00b0":[146],"strong":[149],"correlation":[150],"(r":[151],"\u2265":[152],"0.":[153,157],"9640,":[154],"p":[155],"<":[156],"001).":[158],"Additionally,":[159],"experiment":[161],"result":[162],"seven":[164],"healthy":[165],"subjects":[166,169],"indicated":[167],"had":[170],"muscle":[172],"activations,":[173],"ROM,":[175],"trajectories":[178],"task":[182],"system,":[186],"compared":[187],"task.":[191],"proposed":[194],"potentially":[198],"be":[199],"used":[200]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}