{"id":"https://openalex.org/W1966601742","doi":"https://doi.org/10.1109/icorr.2013.6650481","title":"Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot","display_name":"Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W1966601742","doi":"https://doi.org/10.1109/icorr.2013.6650481","mag":"1966601742","pmid":"https://pubmed.ncbi.nlm.nih.gov/24187298"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2013.6650481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"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/A5050573682","display_name":"Fabrizio Sergi","orcid":"https://orcid.org/0000-0003-3019-2958"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabrizio Sergi","raw_affiliation_strings":["MEMS Department, Rice University, Houston, TX, USA","[MEMS Department, Rice University, Houston, TX, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MEMS Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[MEMS Department, Rice University, Houston, TX, USA]","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091362369","display_name":"Melissa M. Lee","orcid":"https://orcid.org/0000-0002-4269-7438"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melissa M. Lee","raw_affiliation_strings":["MEMS Department, Rice University, Houston, TX, USA","[MEMS Department, Rice University, Houston, TX, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MEMS Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[MEMS Department, Rice University, Houston, TX, USA]","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055353705","display_name":"Marcia K. O\u2019Malley","orcid":"https://orcid.org/0000-0002-3563-1051"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcia K. O'Malley","raw_affiliation_strings":["MEMS Department, Rice University, Houston, TX, USA","[MEMS Department, Rice University, Houston, TX, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MEMS Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"[MEMS Department, Rice University, Houston, TX, USA]","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":5.6579,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.95997356,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2013","issue":null,"first_page":"1","last_page":"6"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9898999929428101,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9889000058174133,"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/actuator","display_name":"Actuator","score":0.7876617908477783},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5965568423271179},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5932040810585022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5872164964675903},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.4866374433040619},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46054619550704956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.452833890914917},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4518123269081116},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.43598031997680664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43465930223464966},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.41438615322113037},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39718854427337646},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3916636109352112},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24632331728935242},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.16030532121658325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13583791255950928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12879210710525513},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10118827223777771}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7876617908477783},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5965568423271179},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5932040810585022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5872164964675903},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.4866374433040619},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46054619550704956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.452833890914917},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4518123269081116},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.43598031997680664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43465930223464966},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.41438615322113037},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39718854427337646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3916636109352112},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24632331728935242},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.16030532121658325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13583791255950928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12879210710525513},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10118827223777771},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D014953","descriptor_name":"Wrist","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D020342","descriptor_name":"Finite Element Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr.2013.6650481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2013.6650481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:24187298","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24187298","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W1978023077","https://openalex.org/W1988869584","https://openalex.org/W2017766931","https://openalex.org/W2027534285","https://openalex.org/W2030770202","https://openalex.org/W2042018949","https://openalex.org/W2092114327","https://openalex.org/W2100970834","https://openalex.org/W2111253117","https://openalex.org/W2113265921","https://openalex.org/W2116767351","https://openalex.org/W2128428510","https://openalex.org/W2132301122","https://openalex.org/W2161839080","https://openalex.org/W2164472100","https://openalex.org/W2167357810","https://openalex.org/W3014646291","https://openalex.org/W3180482864"],"related_works":["https://openalex.org/W2023858428","https://openalex.org/W4247324130","https://openalex.org/W2538259895","https://openalex.org/W2126963364","https://openalex.org/W2051287254","https://openalex.org/W2370937376","https://openalex.org/W2218509615","https://openalex.org/W1489573155","https://openalex.org/W2348662850","https://openalex.org/W3101820272"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,16,46,79,99],"design":[4],"of":[5,18,78,86,88],"a":[6,61,66,84,111],"novel":[7,49],"linear":[8,50],"series":[9],"elastic":[10],"actuator":[11],"purposely":[12],"designed":[13,54],"to":[14,28,41,55],"match":[15],"requirements":[17],"robots":[19],"for":[20,119],"wrist":[21,120],"rehabilitation:":[22],"backdriveability,":[23],"intrinsic":[24,43],"compliance,":[25,104],"and":[26,58,74,92],"capability":[27],"be":[29],"controlled":[30],"as":[31],"ideal":[32],"force/torque":[33],"sources.":[34],"An":[35],"existing":[36],"rehabilitation":[37],"robot":[38],"is":[39,53,69],"adapted":[40],"include":[42],"compliance":[44],"in":[45,71,110],"design.":[47],"A":[48],"compliant":[51,80],"element":[52,82],"meet":[56],"dimensional":[57],"force/stiffness":[59],"requirements;":[60],"force":[62,108],"sensing":[63,81],"scheme":[64],"involving":[65],"Hall-effect":[67],"sensor":[68],"optimized":[70],"FEM":[72],"simulations":[73],"developed.":[75],"Linearity":[76],"tests":[77],"show":[83,97],"maximum":[85],"4.5%":[87],"FSO":[89],"combined":[90],"nonlinearity":[91],"hysteresis":[93],"errors.":[94],"Characterization":[95],"experiments":[96],"that":[98,117],"developed":[100],"system":[101],"introduces":[102],"physical":[103],"still":[105],"guaranteeing":[106],"accurate":[107],"control":[109],"frequency":[112],"range":[113],"largely":[114],"compatible":[115],"with":[116],"required":[118],"assistance":[121],"during":[122],"rehabilitation.":[123]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
