{"id":"https://openalex.org/W4412353028","doi":"https://doi.org/10.1109/icorr66766.2025.11063135","title":"Design and Control of an Actuated Prosthetic Elbow to Restore Arm Swing for Persons with Upper Limb Absence","display_name":"Design and Control of an Actuated Prosthetic Elbow to Restore Arm Swing for Persons with Upper Limb Absence","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4412353028","doi":"https://doi.org/10.1109/icorr66766.2025.11063135","pmid":"https://pubmed.ncbi.nlm.nih.gov/40643997"},"language":"en","primary_location":{"id":"doi:10.1109/icorr66766.2025.11063135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063135","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/A5118956811","display_name":"Michael Jenz","orcid":null},"institutions":[{"id":"https://openalex.org/I1339509835","display_name":"NorthShore University HealthSystem","ror":"https://ror.org/04tpp9d61","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1339509835"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Jenz","raw_affiliation_strings":["Northwestern University,Dept. of Mechanical Engineering,Evanston,United States"],"affiliations":[{"raw_affiliation_string":"Northwestern University,Dept. of Mechanical Engineering,Evanston,United States","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1339509835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118956812","display_name":"Allan Garcia-Casal","orcid":null},"institutions":[{"id":"https://openalex.org/I1339509835","display_name":"NorthShore University HealthSystem","ror":"https://ror.org/04tpp9d61","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1339509835"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allan Garcia-Casal","raw_affiliation_strings":["Northwestern University,Dept. of Mechanical Engineering,Evanston,United States"],"affiliations":[{"raw_affiliation_string":"Northwestern University,Dept. of Mechanical Engineering,Evanston,United States","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1339509835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024354020","display_name":"Yael Ben Shalom","orcid":null},"institutions":[{"id":"https://openalex.org/I1339509835","display_name":"NorthShore University HealthSystem","ror":"https://ror.org/04tpp9d61","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1339509835"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yael Ben Shalom","raw_affiliation_strings":["Northwestern University,Dept. of Mechanical Engineering,Evanston,United States"],"affiliations":[{"raw_affiliation_string":"Northwestern University,Dept. of Mechanical Engineering,Evanston,United States","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1339509835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041493178","display_name":"Matthew L. Elwin","orcid":"https://orcid.org/0000-0003-4827-7925"},"institutions":[{"id":"https://openalex.org/I1339509835","display_name":"NorthShore University HealthSystem","ror":"https://ror.org/04tpp9d61","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1339509835"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew L. Elwin","raw_affiliation_strings":["Northwestern University,Dept. of Mechanical Engineering,Evanston,United States"],"affiliations":[{"raw_affiliation_string":"Northwestern University,Dept. of Mechanical Engineering,Evanston,United States","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1339509835"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089033937","display_name":"Matthew J. Major","orcid":"https://orcid.org/0000-0002-2330-4619"},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]},{"id":"https://openalex.org/I4210100400","display_name":"Northwestern University","ror":"https://ror.org/00m6w7z96","country_code":"PH","type":"education","lineage":["https://openalex.org/I4210100400"]},{"id":"https://openalex.org/I4210147348","display_name":"Northwestern Medicine","ror":"https://ror.org/04fzwnh64","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210147348"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["PH","US"],"is_corresponding":false,"raw_author_name":"Matthew J. Major","raw_affiliation_strings":["Northwestern University,Dept. of Physical Medicine and Rehabilitation,Chicago,United States"],"affiliations":[{"raw_affiliation_string":"Northwestern University,Dept. of Physical Medicine and Rehabilitation,Chicago,United States","institution_ids":["https://openalex.org/I4210100400","https://openalex.org/I111979921","https://openalex.org/I4210147348","https://openalex.org/I1324242722"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5118956811"],"corresponding_institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1339509835"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18800624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2025","issue":null,"first_page":"730","last_page":"735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.998199999332428,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.7520431280136108},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.7410658001899719},{"id":"https://openalex.org/keywords/upper-limb","display_name":"Upper limb","score":0.6636391282081604},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5693004131317139},{"id":"https://openalex.org/keywords/artificial-limbs","display_name":"Artificial limbs","score":0.4486185312271118},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4058874547481537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3873988091945648},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3720020055770874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32600778341293335},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.25706958770751953},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.18458470702171326},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.1546134650707245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10314598679542542},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09282496571540833}],"concepts":[{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.7520431280136108},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7410658001899719},{"id":"https://openalex.org/C2776660947","wikidata":"https://www.wikidata.org/wiki/Q841423","display_name":"Upper limb","level":2,"score":0.6636391282081604},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5693004131317139},{"id":"https://openalex.org/C2987467780","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Artificial limbs","level":3,"score":0.4486185312271118},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4058874547481537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3873988091945648},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3720020055770874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32600778341293335},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.25706958770751953},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.18458470702171326},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.1546134650707245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10314598679542542},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09282496571540833}],"mesh":[{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D001132","descriptor_name":"Arm","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004550","descriptor_name":"Elbow","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D004550","descriptor_name":"Elbow","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"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":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/icorr66766.2025.11063135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr66766.2025.11063135","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:40643997","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40643997","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":0.44999998807907104,"display_name":"Gender equality","id":"https://metadata.un.org/sdg/5"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1968106150","https://openalex.org/W2900693622","https://openalex.org/W2904731826","https://openalex.org/W2963094937","https://openalex.org/W3011402047","https://openalex.org/W3018427003","https://openalex.org/W4396830382","https://openalex.org/W4403531504"],"related_works":["https://openalex.org/W2053552914","https://openalex.org/W2434699082","https://openalex.org/W3024237627","https://openalex.org/W2794965886","https://openalex.org/W3127772510","https://openalex.org/W2531484638","https://openalex.org/W4401031915","https://openalex.org/W2159797777","https://openalex.org/W2162185620","https://openalex.org/W4285044746"],"abstract_inverted_index":{"Dynamic":[0],"balance":[1],"in":[2,14],"human":[3],"locomotion":[4],"relies":[5],"on":[6,84],"the":[7,141,175],"regulation":[8],"of":[9,97],"whole-body":[10],"angular":[11],"momentum.":[12],"Asymmetry":[13],"upper":[15,24],"extremity":[16],"body":[17],"mass":[18],"and":[19,70,143,161],"motion":[20],"that":[21,52,103,156],"occurs":[22],"from":[23],"limb":[25],"absence":[26],"disrupts":[27],"this":[28,40],"regulation.":[29],"Conventional":[30],"transhumeral":[31],"prostheses":[32],"do":[33],"not":[34],"restore":[35,58],"controlled":[36],"arm":[37,59,80,122,170],"swing,":[38],"leaving":[39],"asymmetry":[41],"unresolved.":[42],"This":[43,111],"project":[44],"aimed":[45],"to":[46,57,198],"develop":[47],"an":[48],"actuated":[49],"prosthetic":[50,149],"elbow":[51,55,99,166],"mimics":[53],"natural":[54,121,169],"rotations":[56],"swing":[60,81,171],"during":[61],"walking.":[62],"Two":[63],"prototypes":[64,180],"with":[65,87,168],"contrasting":[66],"designs":[67,191],"were":[68],"fabricated":[69],"tested.":[71],"Prototype":[72,125,137,200,205],"1,":[73],"featuring":[74],"a":[75,104,147,193],"direct":[76,117,195],"drive":[77,118,142,196],"motor,":[78],"tracked":[79],"trajectories":[82],"based":[83],"able-bodied":[85],"data":[86],"less":[88],"than":[89],"5":[90],"%":[91],"position":[92],"error.":[93],"It":[94],"enabled":[95],"evaluation":[96],"predicted":[98],"torque":[100,109],"requirements,":[101],"showing":[102],"double-pendulum":[105],"dynamic":[106],"model":[107],"overestimates":[108],"needs.":[110],"finding":[112],"supports":[113],"using":[114,174],"smaller,":[115],"lighter":[116],"motors":[119],"for":[120,134,151,189],"swing.":[123],"While":[124],"1":[126],"performed":[127],"well,":[128],"its":[129],"motor":[130,197],"was":[131],"too":[132],"large":[133],"practical":[135],"integration.":[136],"2":[138],"successfully":[139],"fit":[140],"control":[144,177],"system":[145],"into":[146],"standard":[148],"envelope":[150],"enhanced":[152],"applicability.":[153],"Testing":[154],"revealed":[155],"gearbox":[157],"friction":[158],"hindered":[159],"control,":[160],"successful":[162],"operation":[163],"required":[164],"synchronizing":[165],"movement":[167],"frequency.":[172],"Despite":[173],"same":[176],"system,":[178],"both":[179],"produced":[181],"notably":[182],"different":[183],"outcomes.":[184],"These":[185],"results":[186],"highlight":[187],"potential":[188],"future":[190],"incorporating":[192],"small":[194],"match":[199],"1's":[201],"performance":[202],"while":[203],"maintaining":[204],"2's":[206],"compact":[207],"form.":[208]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}