{"id":"https://openalex.org/W4401417381","doi":"https://doi.org/10.1109/icra57147.2024.10611070","title":"The Impact of Evolutionary Computation on Robotic Design: A Case Study with an Underactuated Hand Exoskeleton","display_name":"The Impact of Evolutionary Computation on Robotic Design: A Case Study with an Underactuated Hand Exoskeleton","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417381","doi":"https://doi.org/10.1109/icra57147.2024.10611070"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5092486155","display_name":"Baris Akbas","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Baris Akbas","raw_affiliation_strings":["Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109919537","display_name":"Huseyin Taner Yuksel","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Huseyin Taner Yuksel","raw_affiliation_strings":["Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092486154","display_name":"Aleyna Soylemez","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Aleyna Soylemez","raw_affiliation_strings":["Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094255443","display_name":"Mazhar Eid Zyada","orcid":null},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mazhar Eid Zyada","raw_affiliation_strings":["Kadir Has University,Mechatronics Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Mechatronics Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001130163","display_name":"Mine Sara\u00e7","orcid":"https://orcid.org/0000-0002-2814-7587"},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mine Sarac","raw_affiliation_strings":["Kadir Has University,Mechatronics Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Mechatronics Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054512048","display_name":"Fabio Stroppa","orcid":"https://orcid.org/0000-0003-2644-2029"},"institutions":[{"id":"https://openalex.org/I132286405","display_name":"Kadir Has University","ror":"https://ror.org/03zzckc47","country_code":"TR","type":"education","lineage":["https://openalex.org/I132286405"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Fabio Stroppa","raw_affiliation_strings":["Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kadir Has University,Computer Engineering,&#x0130;stanbul,Turkey","institution_ids":["https://openalex.org/I132286405"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I132286405"],"apc_list":null,"apc_paid":null,"fwci":3.1546,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91870872,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5519","last_page":"5525"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9900000095367432,"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":0.9660000205039978,"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/underactuation","display_name":"Underactuation","score":0.8663213849067688},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7515258193016052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462999582290649},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6369553804397583},{"id":"https://openalex.org/keywords/evolutionary-computation","display_name":"Evolutionary computation","score":0.5678567886352539},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4060387909412384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.363197922706604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31262120604515076},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2883451581001282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23018550872802734}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8663213849067688},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7515258193016052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462999582290649},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6369553804397583},{"id":"https://openalex.org/C105902424","wikidata":"https://www.wikidata.org/wiki/Q1197129","display_name":"Evolutionary computation","level":2,"score":0.5678567886352539},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4060387909412384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.363197922706604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31262120604515076},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2883451581001282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23018550872802734},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":35,"referenced_works":["https://openalex.org/W10514645","https://openalex.org/W47390315","https://openalex.org/W68268088","https://openalex.org/W1522538275","https://openalex.org/W1565902586","https://openalex.org/W1568834902","https://openalex.org/W1576660662","https://openalex.org/W1727808331","https://openalex.org/W1984762043","https://openalex.org/W2001237545","https://openalex.org/W2081934079","https://openalex.org/W2097545385","https://openalex.org/W2102046115","https://openalex.org/W2106236488","https://openalex.org/W2145357800","https://openalex.org/W2157809688","https://openalex.org/W2167580870","https://openalex.org/W2468050848","https://openalex.org/W2530469066","https://openalex.org/W2575982227","https://openalex.org/W2657582327","https://openalex.org/W2792062136","https://openalex.org/W2944345882","https://openalex.org/W2988003450","https://openalex.org/W3023540311","https://openalex.org/W3036156867","https://openalex.org/W3113346182","https://openalex.org/W4298363619","https://openalex.org/W4299356270","https://openalex.org/W4300681183","https://openalex.org/W4384558147","https://openalex.org/W6631460888","https://openalex.org/W6637560321","https://openalex.org/W6678845729","https://openalex.org/W7062782387"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732","https://openalex.org/W4303574780","https://openalex.org/W2590554196"],"abstract_inverted_index":{"Robotic":[0],"exoskeletons":[1,25],"can":[2],"enhance":[3],"human":[4],"strength":[5],"and":[6,18,66,89,104],"aid":[7],"people":[8],"with":[9,50,134],"physical":[10],"disabilities.":[11],"However,":[12],"designing":[13,167],"them":[14],"to":[15,31,118,151,176],"ensure":[16],"safety":[17],"optimal":[19,105],"performance":[20,65],"presents":[21],"significant":[22,140,174],"challenges.":[23],"Developing":[24],"should":[26],"incorporate":[27],"specific":[28,178],"optimization":[29,121,165],"algorithms":[30],"find":[32],"the":[33,39,64,69,120,124,129,145,148,152,160],"best":[34],"design.":[35,180],"This":[36,115],"study":[37],"investigates":[38],"potential":[40],"of":[41,68,126,144,162],"Evolutionary":[42],"Computation":[43],"(EC)":[44],"methods":[45,99],"in":[46,110,128,142],"robotic":[47,179],"design":[48],"optimization,":[49],"an":[51],"underactuated":[52],"hand":[53],"exoskeleton":[54],"(U-HEx)":[55],"used":[56],"as":[57,86,169,171],"a":[58,77,111,173],"case":[59],"study.":[60],"We":[61],"propose":[62],"improving":[63],"usability":[67],"U-HEx":[70],"design,":[71,130],"which":[72,131],"was":[73,132],"initially":[74],"optimized":[75],"using":[76],"naive":[78,135],"brute-force":[79],"approach,":[80],"by":[81,122],"integrating":[82],"EC":[83,98],"techniques":[84],"such":[85],"Genetic":[87],"Algorithm":[88],"Big":[90],"Bang-Big":[91],"Crunch":[92],"Algorithm.":[93],"Comparative":[94],"analysis":[95],"revealed":[96],"that":[97],"consistently":[100],"yield":[101],"more":[102],"precise":[103],"solutions":[106],"than":[107],"brute":[108],"force":[109],"significantly":[112],"shorter":[113],"time.":[114],"allowed":[116],"us":[117],"improve":[119],"increasing":[123],"number":[125],"variables":[127],"impossible":[133],"methods.":[136],"The":[137],"results":[138],"show":[139],"improvements":[141],"terms":[143],"torque":[146],"magnitude":[147],"device":[149],"transfers":[150],"user,":[153],"enhancing":[154],"its":[155],"efficiency.":[156],"These":[157],"findings":[158],"underline":[159],"importance":[161],"performing":[163],"proper":[164],"while":[166],"exoskeletons,":[168],"well":[170],"providing":[172],"improvement":[175],"this":[177]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
