{"id":"https://openalex.org/W2131444994","doi":"https://doi.org/10.1109/icra.2011.5980099","title":"Design and control of an actuated thumb exoskeleton for hand rehabilitation following stroke","display_name":"Design and control of an actuated thumb exoskeleton for hand rehabilitation following stroke","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2131444994","doi":"https://doi.org/10.1109/icra.2011.5980099","mag":"2131444994"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5053534500","display_name":"Furui Wang","orcid":"https://orcid.org/0000-0001-8044-8339"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Furui Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034158849","display_name":"Milind Shastri","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Milind Shastri","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063965799","display_name":"C. L. Jones","orcid":"https://orcid.org/0000-0003-3739-2995"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher L. Jones","raw_affiliation_strings":["Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062114153","display_name":"Vikash Gupta","orcid":"https://orcid.org/0000-0002-6786-9865"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vikash Gupta","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042556191","display_name":"Christian R. Osswald","orcid":"https://orcid.org/0000-0001-9234-203X"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Osswald","raw_affiliation_strings":["Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044675035","display_name":"Xuan Kang","orcid":"https://orcid.org/0000-0002-6227-8855"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuan Kang","raw_affiliation_strings":["Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, Chicago 60616, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031636427","display_name":"Derek G. Kamper","orcid":"https://orcid.org/0000-0001-9048-4106"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Derek G. Kamper","raw_affiliation_strings":["Department of Biomedical Engineering, Illinois Institute of Technology and the Rehabilitation Institute of Chicago, Chicago, IL, USA","Department of Biomedical Engineering, Illinois Institute of Technology, 60611, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology and the Rehabilitation Institute of Chicago, Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I180949307"]},{"raw_affiliation_string":"Department of Biomedical Engineering, Illinois Institute of Technology, 60611, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076622286","display_name":"Nilanjan Sarkar","orcid":"https://orcid.org/0000-0002-3969-0593"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Sarkar","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5053534500"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":1.1462,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.79322758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3688","last_page":"3693"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T10227","display_name":"Acute Ischemic Stroke Management","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/2713","display_name":"Epidemiology"},"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/thumb","display_name":"Thumb","score":0.9226241111755371},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9093754291534424},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6402682065963745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5771777033805847},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5747197270393372},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5666516423225403},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5608761310577393},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.49453970789909363},{"id":"https://openalex.org/keywords/stroke","display_name":"Stroke (engine)","score":0.4399106502532959},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4398230016231537},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4300370216369629},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42298173904418945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3978769779205322},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3618907332420349},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3454165756702423},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3273589313030243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3136543929576874},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18365055322647095},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.17647355794906616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16668784618377686},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08495312929153442},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07367968559265137},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06901463866233826}],"concepts":[{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.9226241111755371},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9093754291534424},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6402682065963745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771777033805847},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5747197270393372},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5666516423225403},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5608761310577393},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.49453970789909363},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.4399106502532959},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4398230016231537},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4300370216369629},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42298173904418945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3978769779205322},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3618907332420349},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3454165756702423},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3273589313030243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3136543929576874},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18365055322647095},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.17647355794906616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16668784618377686},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08495312929153442},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07367968559265137},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06901463866233826},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6600000262260437,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311526","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1517158253","https://openalex.org/W1595128467","https://openalex.org/W1889533143","https://openalex.org/W1966869460","https://openalex.org/W1968650413","https://openalex.org/W1977466318","https://openalex.org/W1980419224","https://openalex.org/W2000094867","https://openalex.org/W2001274164","https://openalex.org/W2001615800","https://openalex.org/W2011864003","https://openalex.org/W2030770202","https://openalex.org/W2051544982","https://openalex.org/W2057687952","https://openalex.org/W2063651850","https://openalex.org/W2064159363","https://openalex.org/W2068459821","https://openalex.org/W2080990968","https://openalex.org/W2108084511","https://openalex.org/W2110575642","https://openalex.org/W2113585314","https://openalex.org/W2133095396","https://openalex.org/W2133713370","https://openalex.org/W2135992638","https://openalex.org/W2157729546","https://openalex.org/W2167880628","https://openalex.org/W3093225133","https://openalex.org/W4246435553","https://openalex.org/W4255495147"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W4214843456","https://openalex.org/W3205655234","https://openalex.org/W2906683640"],"abstract_inverted_index":{"Chronic":[0],"hand":[1,19],"impairment":[2],"is":[3,56],"common":[4],"following":[5],"stroke.":[6],"This":[7],"paper":[8],"presents":[9],"an":[10],"actuated":[11],"thumb":[12,41],"exoskeleton":[13],"(ATX)":[14],"to":[15,58,83],"facilitate":[16],"research":[17],"in":[18,25,32],"rehabilitation":[20],"therapy.":[21],"The":[22,54],"ATX":[23,55],"presented":[24],"this":[26],"work":[27,93],"permits":[28],"independent":[29],"bi-directional":[30],"actuation":[31],"each":[33],"of":[34,39],"the":[35,40,64,85],"5":[36,47],"degrees-of-freedom":[37],"(DOF)":[38],"using":[42],"a":[43],"mechanism":[44],"that":[45],"has":[46,76],"active":[48],"DOF":[49],"and":[50,79,91],"3":[51],"passive":[52],"DOF.":[53],"able":[57],"provide":[59],"considerable":[60],"joint":[61],"torques":[62],"for":[63],"user":[65],"while":[66],"still":[67],"allowing":[68],"backdrivability":[69],"through":[70],"flexible":[71],"shaft":[72],"transmission.":[73],"A":[74],"prototype":[75],"been":[77],"built":[78],"experiments":[80],"were":[81],"conducted":[82],"evaluate":[84],"closed-loop":[86],"position":[87],"control.":[88],"Further":[89],"improvement":[90],"future":[92],"are":[94],"discussed.":[95]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}