{"id":"https://openalex.org/W2898213189","doi":"https://doi.org/10.1109/icra.2019.8794332","title":"Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype","display_name":"Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2898213189","doi":"https://doi.org/10.1109/icra.2019.8794332","mag":"2898213189"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5064389745","display_name":"Johannes K\u00fchn","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Johannes Kuhn","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066720396","display_name":"Johannes Ringwald","orcid":"https://orcid.org/0000-0002-9539-2558"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johannes Ringwald","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040515531","display_name":"Moritz Schappler","orcid":"https://orcid.org/0000-0001-7952-7363"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moritz Schappler","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063169662","display_name":"Lars Johannsmeier","orcid":"https://orcid.org/0000-0003-4599-7636"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lars Johannsmeier","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University Munich (TUM), He\u00dfstr. 134, Munich, GERMANY","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064389745"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.53093683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9825999736785889,"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":0.9690999984741211,"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/exoskeleton","display_name":"Exoskeleton","score":0.7652786374092102},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.6418116092681885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5992538332939148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5938225388526917},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.593652069568634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5698818564414978},{"id":"https://openalex.org/keywords/emulation","display_name":"Emulation","score":0.5205615162849426},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4748014509677887},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4679611623287201},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.42375773191452026},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4149037003517151},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40364331007003784},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3836665749549866},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3608483672142029},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3331128656864166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2707284986972809},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21345865726470947}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7652786374092102},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.6418116092681885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5992538332939148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5938225388526917},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.593652069568634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5698818564414978},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.5205615162849426},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4748014509677887},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4679611623287201},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.42375773191452026},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4149037003517151},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40364331007003784},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3836665749549866},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3608483672142029},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3331128656864166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2707284986972809},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21345865726470947},{"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/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320323223","display_name":"Alfried Krupp von Bohlen und Halbach-Stiftung","ror":"https://ror.org/04y7h3604"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1508128040","https://openalex.org/W1523815250","https://openalex.org/W2017239762","https://openalex.org/W2066202893","https://openalex.org/W2073136132","https://openalex.org/W2073476715","https://openalex.org/W2112474089","https://openalex.org/W2126747268","https://openalex.org/W2131666656","https://openalex.org/W2141195300","https://openalex.org/W2330788154","https://openalex.org/W2491679780","https://openalex.org/W2587426719","https://openalex.org/W2808013852","https://openalex.org/W2862284547","https://openalex.org/W2977721975","https://openalex.org/W3003708856","https://openalex.org/W3208985229","https://openalex.org/W3210894029","https://openalex.org/W4248343215","https://openalex.org/W4251668123","https://openalex.org/W4294576732","https://openalex.org/W6773175804","https://openalex.org/W6803092529"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W4200213857","https://openalex.org/W2541967380","https://openalex.org/W2051544982","https://openalex.org/W2341081178","https://openalex.org/W3191094858","https://openalex.org/W3094210481","https://openalex.org/W2164870294","https://openalex.org/W2260130802","https://openalex.org/W2966340813"],"abstract_inverted_index":{"In":[0,117],"this":[1,23,82],"paper":[2],"the":[3,32,46,49,124,142],"first":[4],"robot-based":[5,76],"prototype":[6,68],"of":[7,22,66,70,84],"a":[8,40,67,71,75,87,114,158],"semi-autonomous":[9,93],"upper-limb":[10],"exoprosthesis":[11],"is":[12,25,79],"introduced,":[13],"unifying":[14],"exoskeletons":[15],"and":[16,74,92,148],"prostheses":[17],"[1].":[18],"A":[19],"central":[20],"goal":[21],"work":[24],"to":[26,56,102,113,144],"minimize":[27],"unnecessary":[28],"interaction":[29],"forces":[30],"on":[31],"residual":[33,50],"limb":[34],"by":[35],"compensating":[36],"gravity":[37],"effects":[38],"via":[39,131,136],"upper":[41],"body":[42],"grounded":[43],"exoskeleton.":[44],"Furthermore,":[45],"exoskeleton":[47,77],"provides":[48],"limb's":[51],"kinematic":[52],"data":[53],"that":[54],"allows":[55],"design":[57,65],"more":[58,149],"intelligent":[59],"coordinated":[60,94],"control":[61],"concepts.":[62],"The":[63],"soft-robotics":[64],"consisting":[69],"transhumeral":[72],"prosthesis":[73],"substitute":[78],"outlined.":[80],"For":[81],"class":[83],"hybrid":[85],"systems":[86],"human":[88],"embodied":[89],"dynamics":[90],"model":[91],"motion":[95],"strategies":[96,106],"are":[97,109,127],"derived.":[98],"Here,":[99],"in":[100],"contrast":[101],"established":[103],"standard":[104],"sequential":[105],"all":[107],"joints":[108],"moved":[110],"simultaneously":[111],"according":[112],"desired":[115],"task.":[116],"combination":[118],"with":[119,157],"an":[120],"app-based":[121],"programming":[122],"framework":[123],"strategy":[125],"goals":[126],"set":[128],"either":[129],"user-based":[130],"kinesthetic":[132],"teaching":[133],"or":[134],"autonomously":[135],"3D":[137],"visual":[138],"perception.":[139],"This":[140],"enables":[141],"user":[143],"execute":[145],"tasks":[146],"faster":[147],"intuitive.":[150],"First":[151],"experimental":[152],"evaluations":[153],"show":[154],"promising":[155],"performance":[156],"healthy":[159],"subject.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
