{"id":"https://openalex.org/W4412352955","doi":"https://doi.org/10.1109/icorr66766.2025.11063015","title":"Design and Benchmarking of a Two Degree of Freedom Tendon Driver Unit for Cable-Driven Wearable Technologies","display_name":"Design and Benchmarking of a Two Degree of Freedom Tendon Driver Unit for Cable-Driven Wearable Technologies","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4412352955","doi":"https://doi.org/10.1109/icorr66766.2025.11063015","pmid":"https://pubmed.ncbi.nlm.nih.gov/40644176"},"language":"en","primary_location":{"id":"doi:10.1109/icorr66766.2025.11063015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5064430166","display_name":"Adrian Esser","orcid":"https://orcid.org/0009-0005-6191-3801"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Adrian Esser","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074465327","display_name":"Chiara Basla","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Chiara Basla","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046518573","display_name":"Peter Wolf","orcid":"https://orcid.org/0000-0003-3616-9038"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Peter Wolf","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053676944","display_name":"Robert Riener","orcid":"https://orcid.org/0000-0002-1726-2950"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert Riener","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich,Sensory-Motor Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4905,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63900923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"2025","issue":null,"first_page":"88","last_page":"94"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9965999722480774,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/benchmarking","display_name":"Benchmarking","score":0.8701044321060181},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6596965789794922},{"id":"https://openalex.org/keywords/unit","display_name":"Unit (ring theory)","score":0.5902199745178223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5181042551994324},{"id":"https://openalex.org/keywords/wearable-technology","display_name":"Wearable technology","score":0.4764952063560486},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.42422911524772644},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.41909271478652954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3771093487739563},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3387191891670227},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.255887508392334},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.16606062650680542},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.15213701128959656},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12541994452476501},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11656725406646729},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10182401537895203}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8701044321060181},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6596965789794922},{"id":"https://openalex.org/C122637931","wikidata":"https://www.wikidata.org/wiki/Q118084","display_name":"Unit (ring theory)","level":2,"score":0.5902199745178223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5181042551994324},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.4764952063560486},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.42422911524772644},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.41909271478652954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3771093487739563},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3387191891670227},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.255887508392334},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.16606062650680542},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.15213701128959656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12541994452476501},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11656725406646729},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10182401537895203},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"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":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019415","descriptor_name":"Torque","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr66766.2025.11063015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference On Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:40644176","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40644176","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":[{"display_name":"Peace, Justice and strong institutions","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4186020712","display_name":null,"funder_award_id":"51NF40_185543","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320336554","display_name":"Swiss National Centre of Competence in Research Kidney Control of Homeostasis","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1968048475","https://openalex.org/W2169410184","https://openalex.org/W2170608323","https://openalex.org/W2293804660","https://openalex.org/W2737156933","https://openalex.org/W2765826136","https://openalex.org/W2806389979","https://openalex.org/W2890784218","https://openalex.org/W2953915543","https://openalex.org/W2964466362","https://openalex.org/W2967902380","https://openalex.org/W2970111072","https://openalex.org/W2990679515","https://openalex.org/W3004386539","https://openalex.org/W3047395141","https://openalex.org/W3081361732","https://openalex.org/W3094082359","https://openalex.org/W3164054943","https://openalex.org/W3174451086","https://openalex.org/W4283267145","https://openalex.org/W4405218192"],"related_works":["https://openalex.org/W3090300519","https://openalex.org/W2514492205","https://openalex.org/W4250401876","https://openalex.org/W2943851981","https://openalex.org/W2566526749","https://openalex.org/W3047461507","https://openalex.org/W3126390843","https://openalex.org/W4245880644","https://openalex.org/W4312415459","https://openalex.org/W2528680939"],"abstract_inverted_index":{"Exosuits":[0],"have":[1,31],"recently":[2],"been":[3,32,37],"developed":[4,33],"as":[5,173],"alternatives":[6],"to":[7,73,129,151,178,199,216],"rigid":[8],"exoskeletons":[9],"and":[10,17,21,25,43,52,88,98,176,193,210,214],"are":[11,71],"increasingly":[12],"adopted":[13],"for":[14,65,112,164,212],"both":[15],"upper":[16],"lower":[18],"limb":[19],"therapy":[20],"assistance":[22],"in":[23],"clinical":[24],"home":[26],"environments.":[27],"Many":[28],"cable-driven":[29,66,165],"exosuits":[30],"but":[34],"little":[35],"has":[36],"published":[38],"on":[39,182],"their":[40,222],"electromechanical":[41],"designs":[42],"performance.":[44],"Therefore,":[45],"this":[46,196],"paper":[47],"presents":[48],"a":[49,56,137,160,201],"comprehensive":[50],"design":[51,203],"performance":[53,125,194],"analysis":[54],"of":[55,59,77,126,144,185,221],"two":[57],"degree":[58],"freedom":[60],"tendon":[61],"driver":[62],"unit":[63],"(TDU)":[64],"wearable":[67],"exosuits.":[68],"Detailed":[69],"methodologies":[70,192],"presented":[72],"benchmark":[74],"the":[75,78,86,96,109,113,123,127,142,145,153,183,186,219],"functionality":[76],"TDU.":[79],"A":[80,91,103,118],"static":[81],"torque":[82],"output":[83],"test":[84,94,105,121,140],"compares":[85],"commanded":[87],"measured":[89],"torques.":[90],"velocity":[92],"control":[93],"evaluates":[95,106,141],"attenuation":[97],"phase":[99],"shift":[100],"across":[101],"velocities.":[102],"noise":[104],"how":[107],"loud":[108],"TDU":[110,128,146,162,202,223],"is":[111,167],"wearer":[114],"under":[115,147],"different":[116],"speeds.":[117],"thermal":[119],"stress":[120],"captures":[122],"cooling":[124],"ensure":[130],"safe":[131],"operation":[132],"at":[133],"higher":[134],"loads.":[135],"Finally,":[136],"battery":[138],"endurance":[139],"runtime":[143],"various":[148],"loading":[149],"conditions":[150],"inform":[152],"usable":[154],"time.":[155],"To":[156],"demonstrate":[157],"these":[158],"tests,":[159],"modular":[161],"system":[163],"applications":[166],"introduced,":[168],"which":[169],"allows":[170],"components":[171],"such":[172],"motors,":[174],"pulleys,":[175],"sensors":[177],"be":[179,206],"adapted":[180],"based":[181],"requirements":[184],"intended":[187],"application.":[188],"By":[189],"sharing":[190],"detailed":[191],"results,":[195],"study":[197],"aims":[198],"provide":[200],"that":[204],"may":[205],"leveraged":[207],"by":[208],"others":[209],"resources":[211],"researchers":[213],"engineers":[215],"better":[217],"document":[218],"capabilities":[220],"designs.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
