{"id":"https://openalex.org/W2139530873","doi":"https://doi.org/10.1109/iros.2004.1389427","title":"Use of the Korenev's formalism for real time dynamic simulation of the hand forearm system","display_name":"Use of the Korenev's formalism for real time dynamic simulation of the hand forearm system","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2139530873","doi":"https://doi.org/10.1109/iros.2004.1389427","mag":"2139530873"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5108228999","display_name":"M. Renault","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"M. Renault","raw_affiliation_strings":["Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085447688","display_name":"J. Chalfoun","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Chalfoun","raw_affiliation_strings":["Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066169321","display_name":"B. Mohamed","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Mohamed","raw_affiliation_strings":["Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107834221","display_name":"F.B. Ouezdou","orcid":null},"institutions":[{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F.B. Ouezdou","raw_affiliation_strings":["Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France"],"affiliations":[{"raw_affiliation_string":"Lahratoire d'Instrumentation et de Relations Individu Syst\u00e8me, CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. d'Instrum. et de Relations Individu Syst., CNRS-UVSQ, Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108228999"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I195731000"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1381106,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"655","last_page":"660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9969000220298767,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7764289379119873},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6599735617637634},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.6262326836585999},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5530352592468262},{"id":"https://openalex.org/keywords/forearm","display_name":"Forearm","score":0.5404051542282104},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48979663848876953},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.485748827457428},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.47516578435897827},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.4683251678943634},{"id":"https://openalex.org/keywords/real-time-simulation","display_name":"Real-time simulation","score":0.46737140417099},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.44288474321365356},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42333394289016724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3598422706127167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2502431869506836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2348732054233551},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21375662088394165},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.15064814686775208},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1318129599094391},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12120166420936584}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7764289379119873},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6599735617637634},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.6262326836585999},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5530352592468262},{"id":"https://openalex.org/C2780214079","wikidata":"https://www.wikidata.org/wiki/Q228537","display_name":"Forearm","level":2,"score":0.5404051542282104},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48979663848876953},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.485748827457428},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.47516578435897827},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.4683251678943634},{"id":"https://openalex.org/C2781469108","wikidata":"https://www.wikidata.org/wiki/Q7300799","display_name":"Real-time simulation","level":2,"score":0.46737140417099},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.44288474321365356},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42333394289016724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3598422706127167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2502431869506836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2348732054233551},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21375662088394165},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.15064814686775208},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1318129599094391},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12120166420936584},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1790677379","https://openalex.org/W2121621574","https://openalex.org/W2124397572","https://openalex.org/W2164246713","https://openalex.org/W2167269612","https://openalex.org/W6684253933"],"related_works":["https://openalex.org/W2108508964","https://openalex.org/W2376802003","https://openalex.org/W2054002217","https://openalex.org/W2748490524","https://openalex.org/W10049616","https://openalex.org/W2006625292","https://openalex.org/W2390824555","https://openalex.org/W3021960137","https://openalex.org/W1590630375","https://openalex.org/W4293080821"],"abstract_inverted_index":{"This":[0,176],"paper":[1,117],"concerns":[2,204],"the":[3,11,26,30,39,44,54,59,89,94,97,102,122,130,151,156,159,162,168,171,174,187,205,223],"dynamic":[4,103,224],"simulation":[5,24,72,131,210],"of":[6,25,29,41,43,56,64,93,132,141,161,173,196,207,212],"an":[7,50,198],"articulated":[8],"structure,":[9],"modelling":[10],"human":[12],"upper":[13],"limb.":[14],"Our":[15],"aim":[16,195,203],"is":[17,178],"to":[18,37,69,86,185],"carry":[19],"out":[20],"a":[21,192],"highly":[22,208],"realistic":[23,189,209],"anthropomorphic":[27,46,199],"model":[28,137,177],"hand":[31],"and":[32,105,121,126,158,164,170],"forearm":[33],"system.":[34],"In":[35],"order":[36],"establish":[38],"equations":[40],"motion":[42],"studied":[45],"mechanism,":[47],"we":[48,80],"introduce":[49],"uncommon":[51],"formulation":[52],"in":[53,73],"mechanics":[55],"multibody":[57],"system:":[58],"Korenev's":[60],"formalism.":[61],"The":[62,116,135],"use":[63],"such":[65],"formalism":[66,120],"allows":[67],"us":[68],"realize":[70],"this":[71,119],"real":[74,77],"time.":[75],"By":[76],"time":[78,99],"simulation,":[79],"mean":[81],"that":[82],"simulated":[83],"movement":[84],"has":[85,138],"done":[87],"at":[88],"same":[90],"rates":[91],"those":[92],"human.":[95],"Indeed,":[96],"computation":[98],"for":[100,113,150,155,167],"solving":[101],"forward":[104],"inverse":[106],"models":[107],"takes":[108],"less":[109],"than":[110],"0.1":[111],"ms":[112],"each":[114],"step.":[115],"presents":[118],"model,":[123],"which":[124,144,183],"structural":[125],"functional":[127],"properties":[128],"permit":[129],"free":[133],"movements.":[134],"proposed":[136],"27":[139],"degrees":[140],"freedom":[142],"(dofs),":[143],"are":[145],"split":[146],"into":[147],"23":[148],"dofs":[149,154,166],"hand,":[152],"2":[153,165],"flexion-extension,":[157],"abduction-adduction":[160],"wrist":[163],"pronation-supination":[169],"flexion-extension":[172],"forearm.":[175],"based":[179],"on":[180],"bio-mimetic":[181],"approach,":[182],"attempts":[184],"simulate":[186],"most":[188],"behavior,":[190],"with":[191],"long":[193],"term":[194],"designing":[197],"manipulator":[200],"robot.":[201],"Another":[202],"development":[206],"platform":[211],"virtual":[213],"manikin":[214],"animation":[215],"including":[216],"not":[217],"only":[218],"kinematics":[219],"aspect":[220],"but":[221],"also":[222],"ones.":[225]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}