{"id":"https://openalex.org/W2033483527","doi":"https://doi.org/10.1109/iros.2012.6385786","title":"Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments","display_name":"Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2033483527","doi":"https://doi.org/10.1109/iros.2012.6385786","mag":"2033483527"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://oa.upm.es/20768/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036582859","display_name":"Ignacio Galiana","orcid":"https://orcid.org/0000-0002-5571-1550"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ignacio Galiana","raw_affiliation_strings":["Centre for Automation and Robotics, UPM CSIC, Madrid, Spain","Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics, UPM CSIC, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044726844","display_name":"Frank L. Hammond","orcid":"https://orcid.org/0000-0002-1634-7573"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Frank L. Hammond","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X"},"institutions":[{"id":"https://openalex.org/I4210092658","display_name":"Harvard\u2013MIT Division of Health Sciences and Technology","ror":"https://ror.org/00jjeh629","country_code":"US","type":"education","lineage":["https://openalex.org/I4210092658"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D. Howe","raw_affiliation_strings":["Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","Harvard-MIT Division of Health Sciences and Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Harvard-MIT Division of Health Sciences and Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210092658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083695561","display_name":"Marko B. Popovi\u0107","orcid":"https://orcid.org/0000-0003-0318-7133"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marko B. Popovic","raw_affiliation_strings":["Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":120,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"317","last_page":"322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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":0.9976000189781189,"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":0.9950000047683716,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/orthotics","display_name":"Orthotics","score":0.7787737250328064},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7513368129730225},{"id":"https://openalex.org/keywords/brace","display_name":"Brace","score":0.6549134850502014},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6067517399787903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5452480912208557},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5174286961555481},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44713422656059265},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.442066490650177},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3910064101219177},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3901674449443817},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27559158205986023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2413296103477478},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.21215105056762695},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18453380465507507},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1456989049911499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1083453893661499},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10309097170829773}],"concepts":[{"id":"https://openalex.org/C2776462017","wikidata":"https://www.wikidata.org/wiki/Q59744853","display_name":"Orthotics","level":2,"score":0.7787737250328064},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7513368129730225},{"id":"https://openalex.org/C2779793219","wikidata":"https://www.wikidata.org/wiki/Q2662870","display_name":"Brace","level":2,"score":0.6549134850502014},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6067517399787903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5452480912208557},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5174286961555481},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44713422656059265},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.442066490650177},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3910064101219177},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3901674449443817},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27559158205986023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2413296103477478},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.21215105056762695},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18453380465507507},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1456989049911499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1083453893661499},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10309097170829773},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:oa.upm.es:20768","is_oa":true,"landing_page_url":"https://oa.upm.es/20768/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402421","display_name":"Archivo Digital UPM (Universidad Polit\u00e9cnica de Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | 07/10/2012 - 12/10/2012 | Vilamoura, Portugal","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:oa.upm.es:20768","is_oa":true,"landing_page_url":"https://oa.upm.es/20768/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402421","display_name":"Archivo Digital UPM (Universidad Polit\u00e9cnica de Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | 07/10/2012 - 12/10/2012 | Vilamoura, Portugal","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332598","display_name":"Harvard School of Engineering and Applied Sciences","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1502160591","https://openalex.org/W1573842626","https://openalex.org/W1584153482","https://openalex.org/W1965360304","https://openalex.org/W1974570410","https://openalex.org/W2000870353","https://openalex.org/W2018575420","https://openalex.org/W2072320729","https://openalex.org/W2073249232","https://openalex.org/W2106383691","https://openalex.org/W2111253117","https://openalex.org/W2116123136","https://openalex.org/W2126663592","https://openalex.org/W2152136675","https://openalex.org/W2157384654","https://openalex.org/W2161632148","https://openalex.org/W6630102540"],"related_works":["https://openalex.org/W650135019","https://openalex.org/W4213045518","https://openalex.org/W4244501687","https://openalex.org/W2990021029","https://openalex.org/W1854890619","https://openalex.org/W4233254785","https://openalex.org/W1966923918","https://openalex.org/W2017837979","https://openalex.org/W2235264741","https://openalex.org/W1986194842"],"abstract_inverted_index":{"Stroke":[0],"is":[1,60,64,82,103],"the":[2,9,24,55,85,113,120,132,143,149,156],"leading":[3],"cause":[4],"of":[5,23,66,112,145,151],"long-term":[6],"disability":[7],"in":[8,148],"United":[10],"States,":[11],"affecting":[12],"over":[13,84],"795,000":[14],"people":[15],"annually.":[16],"In":[17],"order":[18],"to":[19,52,105],"regain":[20],"motor":[21],"function":[22],"upper":[25,42,86],"body,":[26,87],"patients":[27,56],"are":[28],"usually":[29],"treated":[30],"by":[31],"regular":[32],"sessions":[33],"with":[34,75],"a":[35,67],"dedicated":[36],"physical":[37,58],"therapist.":[38],"A":[39],"cost-effective":[40,71],"wearable":[41],"body":[43],"orthotics":[44],"system":[45,63,80],"that":[46,81,107,131,155],"can":[47,138,159],"be":[48,139],"used":[49],"at":[50],"home":[51],"empower":[53],"both":[54],"and":[57,98,124,153,162],"therapists":[59],"described.":[61],"The":[62,100],"composed":[65],"thin,":[68],"compliant,":[69],"lightweight,":[70],"soft":[72,133],"orthotic":[73,134],"device":[74,102],"an":[76,88,94],"integrated":[77],"cable":[78],"actuation":[79,111],"worn":[83],"embedded":[89],"limb":[90],"position":[91],"sensing":[92],"system,":[93],"electric":[95],"actuator":[96],"package":[97],"controller.":[99],"proposed":[101,157],"robust":[104],"misalignments":[106,152,164],"may":[108],"occur":[109],"during":[110],"compliant":[114],"brace":[115,137],"or":[116],"when":[117],"putting":[118],"on":[119],"system.":[121],"Through":[122],"simulations":[123],"experimental":[125],"evaluation,":[126],"it":[127],"was":[128],"demonstrated":[129],"i)":[130],"cable-driven":[135],"shoulder":[136],"successfully":[140],"actuated":[141],"without":[142],"production":[144],"off-axis":[146],"torques":[147],"presence":[150],"ii)":[154],"model":[158],"identify":[160],"linear":[161],"angular":[163],"online.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}