{"id":"https://openalex.org/W3206038732","doi":"https://doi.org/10.1109/icra48506.2021.9561776","title":"Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance","display_name":"Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206038732","doi":"https://doi.org/10.1109/icra48506.2021.9561776","mag":"3206038732"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/A5050606936","display_name":"Dongjune Chang","orcid":"https://orcid.org/0000-0002-2577-0015"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dongjune Chang","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079329577","display_name":"Justin Hunt","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Hunt","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051900970","display_name":"John Atkins","orcid":"https://orcid.org/0000-0001-8571-1933"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Atkins","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049280323","display_name":"Hyunglae Lee","orcid":"https://orcid.org/0000-0003-3853-510X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyunglae Lee","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050606936"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":0.4178,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.5717862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"10580","last_page":"10586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9933000206947327,"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":0.9933000206947327,"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":0.991100013256073,"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":0.9861999750137329,"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":0.7806389331817627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6456423997879028},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6250629425048828},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5693957805633545},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5298601984977722},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.51507967710495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5006566047668457},{"id":"https://openalex.org/keywords/mockup","display_name":"Mockup","score":0.4918546676635742},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4700649678707123},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.4297983944416046},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.40156200528144836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26447224617004395},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23089149594306946},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20223480463027954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20219263434410095},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14800676703453064},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08659210801124573},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08402132987976074}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7806389331817627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6456423997879028},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6250629425048828},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5693957805633545},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5298601984977722},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.51507967710495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5006566047668457},{"id":"https://openalex.org/C135581772","wikidata":"https://www.wikidata.org/wiki/Q1933427","display_name":"Mockup","level":2,"score":0.4918546676635742},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4700649678707123},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.4297983944416046},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.40156200528144836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26447224617004395},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23089149594306946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20223480463027954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20219263434410095},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14800676703453064},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08659210801124573},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08402132987976074},{"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/C116915560","wikidata":"https://www.wikidata.org/wiki/Q83504","display_name":"Nuclear engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1538596214","https://openalex.org/W1584643573","https://openalex.org/W1984219664","https://openalex.org/W2001615800","https://openalex.org/W2045539431","https://openalex.org/W2113073759","https://openalex.org/W2123641516","https://openalex.org/W2159286956","https://openalex.org/W2159732416","https://openalex.org/W2165623272","https://openalex.org/W2811376816","https://openalex.org/W2967153221","https://openalex.org/W2986850711","https://openalex.org/W3016992591","https://openalex.org/W3180482864","https://openalex.org/W4297819560","https://openalex.org/W6632274625","https://openalex.org/W6775840522"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W4308297792","https://openalex.org/W2098905871","https://openalex.org/W3003233771","https://openalex.org/W2324863879"],"abstract_inverted_index":{"This":[0],"study":[1,148],"validates":[2],"the":[3,14,18,22,108,112,115,118,121,126,143,156,192],"effectiveness":[4],"of":[5,16,21,46,60,107,114,120,125,135,142],"a":[6,38,57,72,93],"recently":[7],"developed":[8],"parallel-actuated":[9],"shoulder":[10,24,28,52,95,166,186],"exoskeleton":[11,53],"robot":[12,87,116,157],"for":[13,82,117],"purpose":[15],"characterizing":[17,83],"neuromuscular":[19,84],"properties":[20],"human":[23,151,165,185],"joint.":[25],"In":[26],"particular,":[27],"mechanical":[29],"impedance":[30,167],"was":[31,88,129],"quantified,":[32],"which":[33,55],"can":[34,74],"be":[35,159],"represented":[36],"by":[37,91],"2":[39],"<sup":[40,178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[41,179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nd</sup>":[42],"order":[43],"system":[44],"consisting":[45],"spring,":[47],"damper":[48],"and":[49,70,99,102,171,188,208],"inertia.":[50],"The":[51,86,105,183],"robot,":[54],"utilizes":[56],"new":[58],"type":[59],"4-bar":[61],"spherical":[62],"parallel":[63],"manipulator":[64],"(4B-SPM),":[65],"has":[66],"inherently":[67],"low":[68,197],"inertia":[69],"as":[71],"result":[73],"provide":[75],"fast":[76],"perturbations":[77],"that":[78,155],"are":[79],"often":[80],"essential":[81],"properties.":[85,104,123],"first":[89],"evaluated":[90],"using":[92],"physical":[94],"mockup":[96,109,122],"with":[97,132,149,174],"adjustable":[98],"known":[100],"spring":[101],"mass":[103],"results":[106],"test":[110],"confirmed":[111,154],"reliability":[113,176],"characterization":[119],"Stiffness":[124],"tested":[127,144],"springs":[128],"accurately":[130],"quantified":[131],"an":[133],"error":[134],"less":[136],"than":[137],"1.6":[138],"Nm/rad":[139,207],"in":[140,168],"any":[141],"conditions.":[145],"A":[146],"pilot":[147],"5":[150],"subjects":[152],"further":[153],"could":[158],"successfully":[160],"used":[161],"to":[162],"quantify":[163],"multi-dimensional":[164],"both":[169],"pitch":[170],"yaw":[172],"directions":[173],"high":[175],"(R":[177],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[180],">":[181],"0.97).":[182],"average":[184],"stiffness":[187],"damping":[189],"at":[190],"around":[191],"neutral":[193],"arm":[194],"posture":[195],"under":[196],"muscle":[198],"activation":[199],"(<":[200],"5%":[201],"maximum":[202],"voluntary":[203],"contraction)":[204],"were":[205],"30.9":[206],"3.0":[209],"Nms/rad,":[210],"respectively.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
