{"id":"https://openalex.org/W1987200974","doi":"https://doi.org/10.1109/iros.2006.282573","title":"Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm","display_name":"Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W1987200974","doi":"https://doi.org/10.1109/iros.2006.282573","mag":"1987200974"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2006.282573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5048787867","display_name":"Redwan Alqasemi","orcid":"https://orcid.org/0000-0003-4581-932X"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Redwan Alqasemi","raw_affiliation_strings":["Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042562310","display_name":"K. Dean Edwards","orcid":"https://orcid.org/0000-0001-8578-6847"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Edwards","raw_affiliation_strings":["Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110447236","display_name":"Rajiv Dubey","orcid":null},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rajiv Dubey","raw_affiliation_strings":["Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department ofMechanical Engineering, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of South Florida, Tampa, FL","institution_ids":["https://openalex.org/I2613432"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2613432"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.10117014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"19","last_page":"24"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9945999979972839,"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":0.9945999979972839,"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":0.9921000003814697,"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":0.9886000156402588,"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/wheelchair","display_name":"Wheelchair","score":0.8757374286651611},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7069330811500549},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6394186019897461},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6370574831962585},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5538324117660522},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4546331763267517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4416464567184448},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4293067157268524},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4177863895893097},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.41752681136131287},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41023749113082886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40702515840530396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40490424633026123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37798431515693665},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1293012499809265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10575854778289795}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8757374286651611},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7069330811500549},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6394186019897461},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6370574831962585},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5538324117660522},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4546331763267517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4416464567184448},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4293067157268524},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4177863895893097},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.41752681136131287},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41023749113082886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40702515840530396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40490424633026123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37798431515693665},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1293012499809265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10575854778289795},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2006.282573","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.282573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W28595675","https://openalex.org/W1510918013","https://openalex.org/W1619948493","https://openalex.org/W1864838508","https://openalex.org/W1992507008","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2097447571","https://openalex.org/W2101347428","https://openalex.org/W2129387344","https://openalex.org/W2240800126","https://openalex.org/W6690185449"],"related_works":["https://openalex.org/W2548273422","https://openalex.org/W2248405876","https://openalex.org/W3119148404","https://openalex.org/W4214763373","https://openalex.org/W2585174520","https://openalex.org/W1969360890","https://openalex.org/W2276125791","https://openalex.org/W3164052694","https://openalex.org/W2560931257","https://openalex.org/W3163759358"],"abstract_inverted_index":{"A":[0],"wheelchair-mounted":[1],"robotic":[2],"arm":[3,129],"(WMRA)":[4],"was":[5],"designed":[6,71],"and":[7,21,56,70,79,109,119,130],"built":[8,69],"to":[9,22],"meet":[10],"the":[11,24,91,97,101,106,116,120,124,128,135],"needs":[12],"of":[13,18,26,29,54,100,127],"mobility-impaired":[14],"persons":[15],"with":[16,39,90],"limitations":[17],"upper":[19],"extremities,":[20],"exceed":[23],"capabilities":[25],"current":[27,98],"devices":[28],"this":[30,113],"type.":[31],"The":[32,65],"mechanical":[33],"design":[34,107,126],"incorporates":[35],"DC":[36],"servo":[37],"drive,":[38],"actuator":[40],"hardware":[41],"at":[42],"each":[43],"individual":[44],"joint,":[45],"allowing":[46],"reconfigurable":[47],"link":[48],"lengths.":[49],"It":[50],"has":[51],"seven":[52],"degrees":[53],"freedom":[55],"uses":[57],"a":[58,62],"side":[59],"mount":[60],"on":[61],"power":[63],"wheelchair.":[64],"control":[66],"system":[67],"is":[68],"for":[72,83,112,134],"user-driven":[73],"or":[74],"autonomous":[75],"coordinated":[76,88],"Cartesian":[77,136],"control,":[78],"it":[80],"offers":[81],"expandability":[82],"future":[84],"research,":[85],"such":[86],"as":[87],"motion":[89],"wheelchair":[92],"itself.":[93],"This":[94],"paper":[95],"discusses":[96],"state":[99],"art":[102],"in":[103],"WMRAs;":[104],"describes":[105,123],"goals":[108],"user":[110],"requirements":[111],"device;":[114],"explains":[115],"component":[117],"selection":[118],"mechanical/electrical":[121],"design;":[122],"controller":[125],"optimized":[131],"redundancy":[132],"resolution":[133],"control.":[137],"Further":[138],"improvements":[139],"are":[140],"also":[141],"suggested":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}