{"id":"https://openalex.org/W2966021522","doi":"https://doi.org/10.1109/icorr.2019.8779449","title":"Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance","display_name":"Design of a 3D Printed Soft Robotic Hand for Stroke Rehabilitation and Daily Activities Assistance","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2966021522","doi":"https://doi.org/10.1109/icorr.2019.8779449","mag":"2966021522","pmid":"https://pubmed.ncbi.nlm.nih.gov/31374608"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2019.8779449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","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/A5110942981","display_name":"Kelvin Holam Heung","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kelvin H. L. Heung","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059872804","display_name":"Zhi Qiang Tang","orcid":"https://orcid.org/0000-0001-6555-9938"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhi Qiang Tang","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011639214","display_name":"Leo S.T. Ho","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Leo Ho","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110631125","display_name":"Macro Tung","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Macro Tung","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415063","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine, the Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine, the Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066840655","display_name":"Raymond Kai\u2010Yu Tong","orcid":"https://orcid.org/0000-0003-4375-653X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Raymond K. Y. Tong","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5952,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.82136395,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2019","issue":null,"first_page":"65","last_page":"70"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9970999956130981,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9886999726295471,"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/3d-printed","display_name":"3d printed","score":0.7977802753448486},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7224820852279663},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6577003002166748},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.5905430912971497},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5744323134422302},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4705631732940674},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4635464549064636},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.383018434047699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3750419020652771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31587961316108704},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.262046754360199},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.23193973302841187},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.21043208241462708},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18368396162986755}],"concepts":[{"id":"https://openalex.org/C3019308078","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printed","level":2,"score":0.7977802753448486},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7224820852279663},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6577003002166748},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.5905430912971497},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5744323134422302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4705631732940674},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4635464549064636},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.383018434047699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3750419020652771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31587961316108704},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.262046754360199},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.23193973302841187},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.21043208241462708},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18368396162986755}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","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":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","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":"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":"D016059","descriptor_name":"Range of Motion, Articular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016059","descriptor_name":"Range of Motion, Articular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016059","descriptor_name":"Range of Motion, Articular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018737","descriptor_name":"Hand Strength","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D066330","descriptor_name":"Printing, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D066330","descriptor_name":"Printing, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D066330","descriptor_name":"Printing, Three-Dimensional","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr.2019.8779449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:31374608","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31374608","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":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1571978122","https://openalex.org/W1976835694","https://openalex.org/W1988379815","https://openalex.org/W2002019593","https://openalex.org/W2022300385","https://openalex.org/W2051149807","https://openalex.org/W2054326469","https://openalex.org/W2054628872","https://openalex.org/W2097415926","https://openalex.org/W2136192280","https://openalex.org/W2148937364","https://openalex.org/W2169448366","https://openalex.org/W2331401605","https://openalex.org/W2409339128","https://openalex.org/W2588682554","https://openalex.org/W2896890685","https://openalex.org/W2921972126","https://openalex.org/W2967653827"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W4385439013","https://openalex.org/W4296449477"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,30,51,54,69,84,130,135],"new":[6],"personalized":[7],"3D":[8,35,104,111,136],"printed":[9,36,105,112,137],"soft":[10,138],"robotic":[11,31,139],"hand":[12,32,113,145],"for":[13],"providing":[14],"rehabilitation":[15,132],"training":[16,133],"and":[17,44,93,115],"daily":[18,153],"activities":[19],"assistance":[20],"to":[21,37,67,90,100,109,117,128],"stroke":[22,121,124],"survivors.":[23,122],"The":[24],"Soft-Elastic":[25],"Composite":[26],"Actuator":[27],"(SECA)":[28],"on":[29,50,120,150],"is":[33,65],"direct":[34],"accommodate":[38],"with":[39,134],"different":[40],"finger":[41],"sizes.":[42],"Flexion":[43],"extension":[45],"can":[46,88,97,147],"be":[47,68,118,148],"actively":[48],"facilitated":[49],"SECA":[52],"using":[53],"same":[55],"pressurizing":[56],"source.":[57],"Iterative":[58],"learning":[59],"model":[60],"predictive":[61],"control":[62,70],"(ILMPC)":[63],"method":[64],"used":[66],"algorithm":[71],"of":[72,77,143],"SECA.":[73],"At":[74],"160":[75],"kPa":[76],"maximum":[78],"input":[79],"pressure,":[80],"results":[81],"show":[82],"that":[83],"actuator":[85],"bending":[86],"angles":[87],"reach":[89,99],"137":[91],"\u00b0,":[92],"tip":[94],"output":[95],"force":[96],"also":[98],"2.45":[101],"N.":[102],"Multiple":[103],"SECAs":[106],"are":[107,126],"integrated":[108],"a":[110,158],"base":[114],"then":[116],"worn":[119],"Two":[123],"survivors":[125],"recruited":[127],"evaluate":[129],"intention-based":[131],"hand,":[140],"which":[141],"improvement":[142],"their":[144],"function":[146],"observed":[149],"performing":[151],"some":[152],"tasks":[154],"such":[155],"as":[156],"grasping":[157],"coin.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}