{"id":"https://openalex.org/W4310969677","doi":"https://doi.org/10.1109/iecon49645.2022.9968555","title":"Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System","display_name":"Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System","publication_year":2022,"publication_date":"2022-10-17","ids":{"openalex":"https://openalex.org/W4310969677","doi":"https://doi.org/10.1109/iecon49645.2022.9968555"},"language":"en","primary_location":{"id":"doi:10.1109/iecon49645.2022.9968555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968555","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","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/A5070976326","display_name":"Ahmed Gamal","orcid":"https://orcid.org/0000-0002-7511-4083"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Ahmed Gamal","raw_affiliation_strings":["Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt"],"affiliations":[{"raw_affiliation_string":"Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt","institution_ids":["https://openalex.org/I32619867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101578596","display_name":"Abdelfatah M. Mohamed","orcid":"https://orcid.org/0000-0002-8665-1319"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Abdelfatah Mohamed","raw_affiliation_strings":["Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt"],"affiliations":[{"raw_affiliation_string":"Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt","institution_ids":["https://openalex.org/I32619867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101028615","display_name":"Hiroyasu Iwata","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyasu Iwata","raw_affiliation_strings":["Waseda University,Japan"],"affiliations":[{"raw_affiliation_string":"Waseda University,Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051725626","display_name":"Samy F. M. Assal","orcid":"https://orcid.org/0000-0002-7997-4363"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Samy F. M. Assal","raw_affiliation_strings":["Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt"],"affiliations":[{"raw_affiliation_string":"Egypt-Japan University of Science and Technology (E-JUST),Department of Mechatronics and Robotics Engineering,Egypt","institution_ids":["https://openalex.org/I32619867"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070976326"],"corresponding_institution_ids":["https://openalex.org/I32619867"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22767049,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2 a","issue":null,"first_page":"1","last_page":"6"},"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/T11227","display_name":"Diabetic Foot Ulcer Assessment and Management","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"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/T10455","display_name":"Foot and Ankle Surgery","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7164654731750488},{"id":"https://openalex.org/keywords/foot-drop","display_name":"Foot drop","score":0.579849123954773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267600417137146},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4887368679046631},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45644882321357727},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4361686408519745},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4360942840576172},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.24251103401184082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1809893548488617},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.15496554970741272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1502063274383545},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08491560816764832}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7164654731750488},{"id":"https://openalex.org/C2780748539","wikidata":"https://www.wikidata.org/wiki/Q1942814","display_name":"Foot drop","level":2,"score":0.579849123954773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267600417137146},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4887368679046631},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45644882321357727},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4361686408519745},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4360942840576172},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.24251103401184082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1809893548488617},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.15496554970741272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1502063274383545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08491560816764832},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon49645.2022.9968555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968555","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1555679130","https://openalex.org/W1633785340","https://openalex.org/W1997861712","https://openalex.org/W2022975181","https://openalex.org/W2032750300","https://openalex.org/W2049853724","https://openalex.org/W2148293860","https://openalex.org/W2314726420","https://openalex.org/W2438600268","https://openalex.org/W2597684823","https://openalex.org/W2762005860","https://openalex.org/W3080712380","https://openalex.org/W4246380454","https://openalex.org/W6656056818"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W1984283682","https://openalex.org/W1965257389","https://openalex.org/W2018238589","https://openalex.org/W4240233348"],"abstract_inverted_index":{"Post":[0],"stroke":[1],"patients":[2],"may":[3,15],"suffer":[4],"from":[5],"a":[6,17,23,34,74,81,131],"gait":[7,255],"disorder":[8],"which":[9],"is":[10,88,135,149,174,204,217,246],"called":[11,137,170],"foot":[12],"drop.":[13],"They":[14],"experience":[16],"toedrag,":[18],"slow":[19],"walking":[20],"speed":[21],"and":[22,42,68,104,108,198,224],"high":[24,40],"risk":[25],"of":[26,45,128,157,163,184,190,210,222,251],"tripping.":[27],"Although":[28],"physical":[29],"therapy":[30],"exercises":[31],"can":[32,93],"be":[33,235,249],"remedy":[35],"to":[36,97,120,152,176,234,248],"such":[37],"cases,":[38],"their":[39],"cost":[41],"the":[43,49,56,59,99,114,126,129,154,158,164,182,185,191,199,207,211,225,230,242,253],"lack":[44],"professional":[46],"caregivers":[47],"arise":[48],"need":[50],"for":[51,63,113,125,181,206],"robotic":[52,61],"rehabilitation":[53,65,77],"systems.":[54],"On":[55],"other":[57],"hand,":[58],"existing":[60],"systems":[62],"foot-drop":[64,76],"are":[66,111,232],"heavy":[67],"bulky.":[69],"Therefore,":[70],"in":[71],"this":[72],"paper,":[73],"lightweight":[75],"system":[78],"based":[79,143],"on":[80,144,229],"wire-driven":[82],"redundant":[83],"spherical":[84],"parallel":[85],"manipulator":[86],"(RSPM)":[87],"developed.":[89],"The":[90,214],"proposed":[91,115,165],"RSPM":[92,215],"provide":[94],"3-DOF":[95],"movements":[96],"exercise":[98],"dorsiflexion,":[100],"plantarflexion,":[101],"supination,":[102],"lateral":[103],"medial":[105],"rotations.":[106],"Kinematic":[107],"static":[109],"analyses":[110],"performed":[112],"rob":[116],"RSPM.":[117,166,186],"In":[118],"order":[119],"guarantee":[121,177],"permissible":[122,138,171,178,201],"positive":[123,179],"tensions":[124,180],"wires":[127,183],"RSPM,":[130],"new":[132,168],"performance":[133,147,216],"index":[134,169,173],"introduced,":[136],"tension":[139,172,202],"index.":[140],"Optimum":[141],"design":[142,161],"optimizing":[145],"certain":[146],"indices":[148,203],"carried":[150],"out":[151],"obtain":[153],"proper":[155],"dimensions":[156],"movable":[159],"platform":[160],"parameters":[162],"A":[167,187],"introduced":[175],"weighted":[188],"sum":[189],"global":[192,195,200],"kinematic":[193,244],"dexterity,":[194],"minimized":[196],"transmission":[197],"considered":[205],"objective":[208],"function":[209],"optimization":[212],"process.":[213],"evaluated":[218],"over":[219],"its":[220],"range":[221],"motion":[223],"reaction":[226],"forces":[227],"exerted":[228],"ankle":[231],"shown":[233,247],"tolerable":[236],"by":[237],"an":[238],"injured":[239],"ankle.":[240],"Additionally,":[241],"Jacobian-based":[243],"controller":[245],"capable":[250],"tracking":[252,259],"normal":[254],"trajectories":[256],"with":[257],"acceptable":[258],"errors.":[260]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
