{"id":"https://openalex.org/W2012021292","doi":"https://doi.org/10.1109/icra.2014.6907002","title":"Supernumerary Robotic Limbs for aircraft fuselage assembly: Body stabilization and guidance by bracing","display_name":"Supernumerary Robotic Limbs for aircraft fuselage assembly: Body stabilization and guidance by bracing","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2012021292","doi":"https://doi.org/10.1109/icra.2014.6907002","mag":"2012021292"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011191325","display_name":"Federico Parietti","orcid":"https://orcid.org/0000-0003-1693-5217"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Federico Parietti","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":12.6221,"has_fulltext":false,"cited_by_count":122,"citation_normalized_percentile":{"value":0.99267336,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1176","last_page":"1183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9952999949455261,"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":0.9876000285148621,"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/fuselage","display_name":"Fuselage","score":0.7488266825675964},{"id":"https://openalex.org/keywords/drill","display_name":"Drill","score":0.6830438375473022},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5989299416542053},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5192713737487793},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5185211896896362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4694459140300751},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45074209570884705},{"id":"https://openalex.org/keywords/interfacing","display_name":"Interfacing","score":0.4483835697174072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41325515508651733},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3218539357185364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24180364608764648},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10700210928916931}],"concepts":[{"id":"https://openalex.org/C113556839","wikidata":"https://www.wikidata.org/wiki/Q1110579","display_name":"Fuselage","level":2,"score":0.7488266825675964},{"id":"https://openalex.org/C173736775","wikidata":"https://www.wikidata.org/wiki/Q58964","display_name":"Drill","level":2,"score":0.6830438375473022},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5989299416542053},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5192713737487793},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5185211896896362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4694459140300751},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45074209570884705},{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.4483835697174072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41325515508651733},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3218539357185364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24180364608764648},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10700210928916931},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W248766594","https://openalex.org/W1487127700","https://openalex.org/W1510788134","https://openalex.org/W1882348221","https://openalex.org/W2043144176","https://openalex.org/W2071850119","https://openalex.org/W2086213654","https://openalex.org/W2097545385","https://openalex.org/W2120621513","https://openalex.org/W2138300314","https://openalex.org/W2144781570","https://openalex.org/W2151182239","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4242683968","https://openalex.org/W2062076503","https://openalex.org/W2385716312","https://openalex.org/W3182851672","https://openalex.org/W2005690352","https://openalex.org/W2081647779","https://openalex.org/W3173635594","https://openalex.org/W3003549831","https://openalex.org/W2385335081"],"abstract_inverted_index":{"A":[0,181],"new":[1],"type":[2],"of":[3,54,133],"wearable":[4],"robot":[5],"that":[6,230],"assists":[7],"the":[8,15,38,61,74,78,83,92,96,101,106,129,154,160,162,165,186,199,211,223,232,236,240],"wearer":[9,39],"with":[10,60,68],"extra":[11],"arms":[12],"secured":[13],"around":[14,159],"hips":[16],"is":[17,115,135,217],"presented.":[18],"Supernumerary":[19],"Robotic":[20],"Limbs":[21],"(SRL)":[22],"can":[23,104],"hold":[24],"objects,":[25],"clamp":[26],"them":[27],"to":[28,117,125,221],"a":[29,42,45,52,69,88,194,206],"fixture,":[30],"guide":[31],"and":[32,36,71,99,110,137,142,149,164,169,176,202,204,227,234],"support":[33],"human":[34,75,84,97,212,241],"hands,":[35,102],"assist":[37],"in":[40,219],"performing":[41],"task":[43,108,138],"as":[44],"close":[46],"co-worker.":[47],"This":[48],"paper":[49],"focuses":[50],"on":[51,198],"class":[53],"tasks":[55],"where":[56,120],"SRL":[57,65,80,103,113,134,141,224],"physically":[58],"interacts":[59],"environment":[62,166],"through":[63],"contact.":[64],"makes":[66],"contact":[67],"wall":[70],"thereby":[72],"braces":[73],"body":[76,98],"against":[77],"environment.":[79],"also":[81],"guides":[82,203],"hands":[85],"by":[86,210],"placing":[87],"drill":[89,195,208,233],"jig":[90,196],"over":[91],"drilling":[93,107],"location.":[94],"Bracing":[95],"guiding":[100],"enhance":[105],"stability":[109],"accuracy.":[111],"The":[112],"technology":[114],"applied":[116],"aircraft":[118,187],"assembly,":[119],"conventional":[121],"industrial":[122],"robots":[123],"failed":[124],"perform":[126],"effectively.":[127],"First,":[128],"basic":[130],"design":[131],"concept":[132],"summarized,":[136],"strategies":[139,171],"using":[140],"their":[143],"functional":[144],"requirements":[145],"are":[146,167,179],"described.":[147],"Kinematic":[148],"static":[150],"properties":[151],"resulting":[152],"from":[153],"structural":[155],"closed":[156],"loops":[157],"formed":[158],"SRL,":[161],"human,":[163],"analyzed,":[168],"effective":[170],"for":[172],"physical":[173],"disturbance":[174],"rejection":[175],"fine":[177],"positioning":[178],"discussed.":[180],"prototype":[182],"robotic":[183,191],"arm":[184,192],"grasps":[185],"fuselage":[188,200],"structure.":[189],"Another":[190],"places":[193],"precisely":[197],"structure,":[201],"stabilizes":[205],"hand":[207],"held":[209],"user.":[213],"An":[214],"optimization":[215],"method":[216],"developed":[218],"order":[220],"identify":[222],"kinematic":[225],"configuration":[226],"joint":[228],"torques":[229],"stabilize":[231],"at":[235],"same":[237],"time":[238],"minimize":[239],"workload.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
