{"id":"https://openalex.org/W2136709627","doi":"https://doi.org/10.1109/icra.2011.5980173","title":"Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications","display_name":"Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2136709627","doi":"https://doi.org/10.1109/icra.2011.5980173","mag":"2136709627"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980173","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/19415","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027029341","display_name":"L. E. Amigo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210147769","display_name":"Institute for Bioengineering of Catalonia","ror":"https://ror.org/056h71x09","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210132884","https://openalex.org/I4210147769","https://openalex.org/I4387153040"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"L. E. Amigo","raw_affiliation_strings":["Institute for Bioengineering of Catalonia (IBEC) Barcelona, Spain","Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute for Bioengineering of Catalonia (IBEC) Barcelona, Spain","institution_ids":["https://openalex.org/I4210147769"]},{"raw_affiliation_string":"Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086247627","display_name":"Al\u0131\u0301cia Casals","orcid":"https://orcid.org/0000-0003-4706-5533"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210147769","display_name":"Institute for Bioengineering of Catalonia","ror":"https://ror.org/056h71x09","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210132884","https://openalex.org/I4210147769","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Casals","raw_affiliation_strings":["Institute for Bioengineering of Catalonia (IBEC) Barcelona, Spain","Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute for Bioengineering of Catalonia (IBEC) Barcelona, Spain","institution_ids":["https://openalex.org/I4210147769"]},{"raw_affiliation_string":"Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027368588","display_name":"Josep Amat","orcid":"https://orcid.org/0000-0002-8769-7706"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Amat","raw_affiliation_strings":["Biomedical Engineering Research Centre (CREB), Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Research Centre (CREB), Universitat Polit\u00e8cnica de Catalunya (UPC) Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027029341"],"corresponding_institution_ids":["https://openalex.org/I4210147769","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":2.0797,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.86364619,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3700","last_page":"3705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9976999759674072,"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":0.9958999752998352,"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/exoskeleton","display_name":"Exoskeleton","score":0.8529195785522461},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7716946601867676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7005175948143005},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.6694604158401489},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6349366307258606},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5711822509765625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4576503336429596},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.44740983843803406},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.44662976264953613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40199291706085205},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.374177485704422},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25579744577407837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14514389634132385},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09120818972587585},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08277380466461182}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8529195785522461},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7716946601867676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7005175948143005},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.6694604158401489},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6349366307258606},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5711822509765625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4576503336429596},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.44740983843803406},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.44662976264953613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40199291706085205},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.374177485704422},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25579744577407837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14514389634132385},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09120818972587585},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08277380466461182},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980173","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"},{"id":"pmh:oai:www.recercat.cat:2072/211650","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/19415","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/19415","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/19415","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.recercat.cat:2072/211650","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/19415","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1513008436","https://openalex.org/W1550599557","https://openalex.org/W1555444101","https://openalex.org/W1563414410","https://openalex.org/W1761849280","https://openalex.org/W1964261843","https://openalex.org/W2006905403","https://openalex.org/W2058159824","https://openalex.org/W2088806978","https://openalex.org/W2101908893","https://openalex.org/W2108341823","https://openalex.org/W2108775281","https://openalex.org/W2109050411","https://openalex.org/W2125609926","https://openalex.org/W2126663592","https://openalex.org/W2127002086","https://openalex.org/W2127577038","https://openalex.org/W2128426937","https://openalex.org/W2130630510","https://openalex.org/W2141596924","https://openalex.org/W2145965127","https://openalex.org/W2147288676","https://openalex.org/W2150257927","https://openalex.org/W2153081145","https://openalex.org/W2154630542","https://openalex.org/W2542177534","https://openalex.org/W6633152776","https://openalex.org/W6633212214","https://openalex.org/W6676193997","https://openalex.org/W6941191164"],"related_works":["https://openalex.org/W2080331776","https://openalex.org/W2045478930","https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W161603712","https://openalex.org/W2320805319","https://openalex.org/W1984747759","https://openalex.org/W4252349560","https://openalex.org/W2744582151","https://openalex.org/W2542030311"],"abstract_inverted_index":{"Most":[0],"exoskeleton":[1],"designs":[2],"rely":[3],"on":[4,30],"structures":[5],"and":[6,19,56],"mechanical":[7],"joints":[8],"that":[9],"do":[10],"not":[11],"guarantee":[12],"the":[13,17,20],"right":[14],"match":[15],"between":[16],"orthosis":[18],"user.":[21],"This":[22,42],"paper":[23],"proposes":[24],"a":[25,39,48,59],"virtual":[26],"joint":[27,43],"model":[28],"based":[29],"three":[31],"active":[32],"degrees":[33],"of":[34,46],"freedom":[35],"aimed":[36],"to":[37,53,57,62,68],"emulate":[38],"human":[40],"joint.":[41],"is":[44],"capable":[45],"performing":[47],"dynamic":[49],"servo-adaptation":[50],"in":[51,66],"real-time":[52],"avoid":[54,69],"misalignments":[55],"provide":[58],"flexible":[60],"adjustment":[61],"different":[63],"users'":[64],"sizes":[65],"order":[67],"undesirable":[70],"interaction":[71],"forces.":[72]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}