{"id":"https://openalex.org/W2096948926","doi":"https://doi.org/10.1109/iros.2011.6095136","title":"Ergonomic considerations for anthropomorphic wrist exoskeletons: A simulation study on the effects of joint misalignment","display_name":"Ergonomic considerations for anthropomorphic wrist exoskeletons: A simulation study on the effects of joint misalignment","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2096948926","doi":"https://doi.org/10.1109/iros.2011.6095136","mag":"2096948926"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095136","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 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/A5101416517","display_name":"Mohammad Esmaeili","orcid":"https://orcid.org/0000-0003-3026-6910"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohammad Esmaeili","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033999674","display_name":"Kumudu Gamage","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kumudu Gamage","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037269840","display_name":"Eugene Tan","orcid":"https://orcid.org/0000-0003-3970-9036"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Eugene Tan","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079258091","display_name":"Domenico Campolo","orcid":"https://orcid.org/0000-0001-6930-0413"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Domenico Campolo","raw_affiliation_strings":["School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and AeroSpace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical & Aerospace Engineering, Nanyang Technological University 639798 Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4905","last_page":"4910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9970999956130981,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9725919961929321},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8482493162155151},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.5868819952011108},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.5268641710281372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214813947677612},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48443272709846497},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.48307397961616516},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.45037710666656494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3493126928806305},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13490450382232666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10610705614089966},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0640718936920166},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06245017051696777}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9725919961929321},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8482493162155151},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.5868819952011108},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.5268641710281372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214813947677612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48443272709846497},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.48307397961616516},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.45037710666656494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3493126928806305},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13490450382232666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10610705614089966},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0640718936920166},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06245017051696777},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095136","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W639661492","https://openalex.org/W1550599557","https://openalex.org/W1974027677","https://openalex.org/W1988882685","https://openalex.org/W2000971831","https://openalex.org/W2032743668","https://openalex.org/W2048776649","https://openalex.org/W2059967088","https://openalex.org/W2077878465","https://openalex.org/W2105059641","https://openalex.org/W2111054653","https://openalex.org/W2124238379","https://openalex.org/W2134525555","https://openalex.org/W2158769407","https://openalex.org/W2163613809","https://openalex.org/W2171839968","https://openalex.org/W2295718714","https://openalex.org/W4205467692","https://openalex.org/W4246216903"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2981150551","https://openalex.org/W1627731038","https://openalex.org/W1994746391","https://openalex.org/W3177479647","https://openalex.org/W2143186715","https://openalex.org/W3095613412","https://openalex.org/W2990863278","https://openalex.org/W4280513254","https://openalex.org/W2184510445"],"abstract_inverted_index":{"This":[0],"work":[1],"focuses":[2],"on":[3,47,63,100,176],"anthropomorphic":[4],"exoskeletons":[5],"for":[6,16,28,145,172],"the":[7,17,29,37,41,44,51,55,59,64,81,88,91,105,111,115,122,127,151,154,163,173,177,180],"human":[8,18,38,60,112,128],"wrist.":[9],"We":[10,31,77],"consider":[11],"a":[12,25,33,95,139],"2":[13],"dof":[14],"model":[15,27],"wrist":[19,61],"with":[20],"non":[21],"intersecting":[22],"joints":[23,113,129],"and":[24,40,114,150,166],"similar":[26],"exoskeleton.":[30],"assume":[32,130],"viscoelastic":[34,92],"attachment":[35],"between":[36,110],"hand":[39],"handle":[42],"of":[43,54,83,90,136,142,179],"exoskeleton":[45,56,97,117],"which":[46],"one":[48],"side":[49],"allows":[50],"different":[52],"kinematics":[53],"to":[57],"follow":[58],"and,":[62],"other":[65],"side,":[66],"induces":[67],"reaction":[68,123],"forces":[69,124],"at":[70],"all":[71],"joints,":[72],"in":[73,87,153],"particular":[74],"causing":[75],"discomfort.":[76],"quantify":[78],"discomfort":[79,155],"as":[80,119,121],"amount":[82],"potential":[84],"energy":[85],"stored":[86],"deformation":[89],"attachment.":[93],"For":[94],"specific":[96],"implementation,":[98],"based":[99,175],"kinematic":[101,106],"simulations,":[102],"we":[103,161],"report":[104],"mismatch":[107],"(i.e.":[108],"differences":[109],"corresponding":[116],"joints)":[118],"well":[120],"arising":[125],"when":[126],"postures":[131],"throughout":[132],"their":[133],"physiological":[134],"range":[135],"motion.":[137],"Considering":[138],"typical":[140],"distribution":[141],"joint":[143,170],"offset":[144,171],"humans":[146],"(derived":[147,157],"from":[148,158],"literature)":[149],"asymmetry":[152],"function":[156],"our":[159],"simulations)":[160],"address":[162],"\u201cone-size-fits-all\u201d":[164],"problem":[165],"propose":[167],"an":[168],"optimal":[169],"exoskeleton,":[174],"minimization":[178],"aggregate":[181],"loss":[182],"function.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
