{"id":"https://openalex.org/W4412346677","doi":"https://doi.org/10.1109/icorr66766.2025.11063025","title":"Learning-Based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism","display_name":"Learning-Based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4412346677","doi":"https://doi.org/10.1109/icorr66766.2025.11063025","pmid":"https://pubmed.ncbi.nlm.nih.gov/40644182"},"language":"en","primary_location":{"id":"doi:10.1109/icorr66766.2025.11063025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063025","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/A5100607289","display_name":"Jingzong Zhou","orcid":"https://orcid.org/0009-0007-3538-383X"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingzong Zhou","raw_affiliation_strings":["University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089098757","display_name":"Yuhan Zhu","orcid":"https://orcid.org/0000-0002-0246-3653"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhan Zhu","raw_affiliation_strings":["University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100379597","display_name":"Xiaobin Zhang","orcid":"https://orcid.org/0000-0002-7784-3589"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Zhang","raw_affiliation_strings":["University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil Agrawal","raw_affiliation_strings":["Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University,Dept. of Mechanical Engineering,New York,NY,USA,10027","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006022077","display_name":"Konstantinos Karydis","orcid":"https://orcid.org/0000-0002-1144-8260"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konstantinos Karydis","raw_affiliation_strings":["University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Riverside,Dept. of Electrical and Computer Engineering,Riverside,CA,USA,92521","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85765951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"2025","issue":null,"first_page":"1718","last_page":"1723"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9973999857902527,"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/kinematics","display_name":"Kinematics","score":0.8039309978485107},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.727314293384552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6796441674232483},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.502737283706665},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.48208123445510864},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4728389382362366},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4280727505683899},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.3873879313468933},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3542484939098358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3540853261947632},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3221181035041809},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18871480226516724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16702154278755188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05932486057281494}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8039309978485107},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.727314293384552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6796441674232483},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.502737283706665},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.48208123445510864},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4728389382362366},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4280727505683899},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3873879313468933},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3542484939098358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3540853261947632},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3221181035041809},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18871480226516724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16702154278755188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05932486057281494},{"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":[{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","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":"D009989","descriptor_name":"Orthotic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009989","descriptor_name":"Orthotic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr66766.2025.11063025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063025","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:40644182","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40644182","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1257341608","https://openalex.org/W1769880701","https://openalex.org/W2038622057","https://openalex.org/W2047994821","https://openalex.org/W2056605564","https://openalex.org/W2105942045","https://openalex.org/W2111954619","https://openalex.org/W2121591180","https://openalex.org/W2147302273","https://openalex.org/W2561027863","https://openalex.org/W2568560373","https://openalex.org/W2735197468","https://openalex.org/W2902132588","https://openalex.org/W2908537323","https://openalex.org/W2967427547","https://openalex.org/W2996255334","https://openalex.org/W3090778226","https://openalex.org/W3101360817","https://openalex.org/W3126673178","https://openalex.org/W3152535527","https://openalex.org/W3207382213","https://openalex.org/W3207783814","https://openalex.org/W3216899544","https://openalex.org/W4287760763","https://openalex.org/W4313161465","https://openalex.org/W4382981733","https://openalex.org/W4399453218","https://openalex.org/W4402608140","https://openalex.org/W4403966493"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W3030642493","https://openalex.org/W1969999327","https://openalex.org/W4283266117","https://openalex.org/W3126987580","https://openalex.org/W2744818472","https://openalex.org/W2607470227","https://openalex.org/W1971821535"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,14,54,61],"3D":[4],"parallel":[5,120],"robot":[6],"with":[7,27,106],"three":[8],"identical":[9],"five-degree-of-freedom":[10],"chains":[11],"connected":[12],"to":[13,19,44,68,80,128],"circular":[15],"brace":[16],"end-effector,":[17],"aimed":[18],"serve":[20],"as":[21,58,60],"an":[22],"assistive":[23],"device":[24],"for":[25,118],"patients":[26],"cervical":[28],"spondylosis.":[29],"The":[30,49,65,77,94],"inverse":[31,92],"kinematics":[32,123],"of":[33,74,114],"the":[34,46,70,87,107,112],"system":[35],"is":[36,67,84],"solved":[37],"analytically,":[38],"whereas":[39],"learning-based":[40,116],"methods":[41,50,83,95,117],"are":[42,96,125],"deployed":[43],"solve":[45],"forward":[47,122],"kinematics.":[48,93],"considered":[51],"herein":[52],"include":[53],"Koopman":[55],"operator-based":[56],"approach":[57],"well":[59],"neural":[62],"network-based":[63],"approach.":[64],"task":[66],"predict":[69],"position":[71],"and":[72,101],"orientation":[73],"end-effector":[75],"trajectories.":[76],"dataset":[78],"used":[79],"train":[81],"these":[82],"based":[85],"on":[86],"analytical":[88],"solutions":[89],"derived":[90],"via":[91,102],"tested":[97],"both":[98],"in":[99],"simulation":[100],"physical":[103],"hard-ware":[104],"experiments":[105],"developed":[108],"robot.":[109],"Results":[110],"validate":[111],"suitability":[113],"deploying":[115],"studying":[119],"mechanism":[121],"that":[124],"generally":[126],"hard":[127],"resolve":[129],"analytically.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}