{"id":"https://openalex.org/W2488680497","doi":"https://doi.org/10.1109/biorob.2016.7523753","title":"Preliminary mechanical design of NU-Wrist: A 3-DOF self-aligning Wrist rehabilitation robot","display_name":"Preliminary mechanical design of NU-Wrist: A 3-DOF self-aligning Wrist rehabilitation robot","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2488680497","doi":"https://doi.org/10.1109/biorob.2016.7523753","mag":"2488680497"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5046357749","display_name":"Nurdos Omarkulov","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Nurdos Omarkulov","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078022097","display_name":"Kuat Telegenov","orcid":"https://orcid.org/0000-0001-6136-843X"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Kuat Telegenov","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043860281","display_name":"Maralbek Zeinullin","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Maralbek Zeinullin","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013760704","display_name":"Iliyas Tursynbek","orcid":"https://orcid.org/0000-0003-3753-9969"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Iliyas Tursynbek","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056351433","display_name":"Almas Shintemirov","orcid":"https://orcid.org/0000-0002-6969-8529"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Almas Shintemirov","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046357749"],"corresponding_institution_ids":["https://openalex.org/I60559429"],"apc_list":null,"apc_paid":null,"fwci":3.0467,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.90689974,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"962","last_page":"967"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994000196456909,"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":0.9994000196456909,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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":0.9531999826431274,"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/wrist","display_name":"Wrist","score":0.885954737663269},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6883245706558228},{"id":"https://openalex.org/keywords/forearm","display_name":"Forearm","score":0.6785584688186646},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6035206913948059},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5037638545036316},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4965701699256897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4902825653553009},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39660120010375977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3810146450996399},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37986668944358826},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.336078017950058},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.21040546894073486},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.17634639143943787},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.08880847692489624}],"concepts":[{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.885954737663269},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6883245706558228},{"id":"https://openalex.org/C2780214079","wikidata":"https://www.wikidata.org/wiki/Q228537","display_name":"Forearm","level":2,"score":0.6785584688186646},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6035206913948059},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5037638545036316},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4965701699256897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4902825653553009},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39660120010375977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3810146450996399},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37986668944358826},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.336078017950058},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.21040546894073486},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.17634639143943787},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.08880847692489624}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1521732971","https://openalex.org/W1542830605","https://openalex.org/W1972849348","https://openalex.org/W1984527044","https://openalex.org/W1993579742","https://openalex.org/W2018640994","https://openalex.org/W2022091045","https://openalex.org/W2026156108","https://openalex.org/W2030770202","https://openalex.org/W2034959629","https://openalex.org/W2038630298","https://openalex.org/W2055673504","https://openalex.org/W2056068526","https://openalex.org/W2067188191","https://openalex.org/W2080756297","https://openalex.org/W2084356280","https://openalex.org/W2089746558","https://openalex.org/W2098048393","https://openalex.org/W2099946053","https://openalex.org/W2101235653","https://openalex.org/W2113585314","https://openalex.org/W2119010034","https://openalex.org/W2128428510","https://openalex.org/W2132528999","https://openalex.org/W2134525555","https://openalex.org/W2135571808","https://openalex.org/W2138578394","https://openalex.org/W2140036652","https://openalex.org/W2140280613","https://openalex.org/W2148387213","https://openalex.org/W2157456784","https://openalex.org/W2158244378","https://openalex.org/W2158484628","https://openalex.org/W2158945113","https://openalex.org/W2164553222","https://openalex.org/W2169664468","https://openalex.org/W2170299887","https://openalex.org/W2493317763","https://openalex.org/W2532815129","https://openalex.org/W2768019923","https://openalex.org/W2916392902","https://openalex.org/W4293204946","https://openalex.org/W6632436141"],"related_works":["https://openalex.org/W1982166191","https://openalex.org/W2735375504","https://openalex.org/W2383718787","https://openalex.org/W1989578999","https://openalex.org/W2071621727","https://openalex.org/W2058647376","https://openalex.org/W826548490","https://openalex.org/W2885273849","https://openalex.org/W2418198049","https://openalex.org/W2150388832"],"abstract_inverted_index":{"The":[0,36,68],"use":[1],"of":[2,13,23,46,62],"robotics":[3],"in":[4],"rehabilitation":[5,97],"area":[6],"provides":[7,40],"a":[8,24],"quantifying":[9],"outcomes":[10],"on":[11],"treatment":[12],"after":[14],"stroke":[15],"patients.":[16],"This":[17],"paper":[18],"presents":[19],"the":[20,43,87,95],"preliminary":[21],"design":[22,39,82,91],"novel":[25,53],"exoskeleton":[26],"robot,":[27],"called":[28],"NU-Wrist,":[29],"for":[30,80],"human":[31,47],"wrist":[32,48,70],"and":[33,49],"forearm":[34,50],"rehabilitation.":[35],"proposed":[37,88],"robot":[38,55,71,90],"rotation":[41],"within":[42],"anatomical":[44],"range":[45],"motions.":[51],"A":[52],"compliant":[54],"handle":[56],"link":[57],"ensures":[58],"dynamic":[59],"passive":[60],"self-alignment":[61],"human-robot":[63],"axes":[64],"during":[65],"therapy":[66],"exercising.":[67],"proof-of-concept":[69],"prototype":[72],"has":[73],"been":[74],"manufactured":[75],"using":[76],"3D":[77],"printing":[78],"technology":[79],"experimental":[81],"evaluation.":[83],"It":[84],"is":[85,92],"shown":[86],"NU-Wrist":[89],"satisfied":[93],"to":[94],"specified":[96],"system":[98],"requirements.":[99]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
