{"id":"https://openalex.org/W2207505143","doi":"https://doi.org/10.1109/iros.2015.7354173","title":"Design of CASIA-ARM: A novel rehabilitation robot for upper limbs","display_name":"Design of CASIA-ARM: A novel rehabilitation robot for upper limbs","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2207505143","doi":"https://doi.org/10.1109/iros.2015.7354173","mag":"2207505143"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5109462399","display_name":"Liang Peng","orcid":"https://orcid.org/0000-0001-6531-7517"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Peng","raw_affiliation_strings":["Institute of Automation Chinese Academy of Sciences, Beijing, Beijing, CN","State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109333020","display_name":"Zeng\u2010Guang Hou","orcid":"https://orcid.org/0000-0002-1534-5840"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng-Guang Hou","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038101201","display_name":"Long Peng","orcid":"https://orcid.org/0000-0003-1012-5109"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Peng","raw_affiliation_strings":["Institute of Automation Chinese Academy of Sciences, Beijing, Beijing, CN","State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665273","display_name":"Weiqun Wang","orcid":"https://orcid.org/0000-0001-6981-297X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiqun Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109462399"],"corresponding_institution_ids":["https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":2.6052,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.89035479,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":null,"first_page":"5611","last_page":"5616"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998000264167786,"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":0.9998000264167786,"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":0.979200005531311,"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":0.9733999967575073,"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/workspace","display_name":"Workspace","score":0.8129245042800903},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5838661789894104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5728994011878967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520588755607605},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44219517707824707},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42973199486732483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3836144804954529},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33759796619415283},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2638840079307556}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8129245042800903},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5838661789894104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5728994011878967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520588755607605},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44219517707824707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42973199486732483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3836144804954529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33759796619415283},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2638840079307556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":1,"locations":[{"id":"doi:10.1109/iros.2015.7354173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2000949542","https://openalex.org/W2054326469","https://openalex.org/W2071083896","https://openalex.org/W2091893910","https://openalex.org/W2108790161","https://openalex.org/W2115730616","https://openalex.org/W2119349639","https://openalex.org/W2134704295","https://openalex.org/W2140123501","https://openalex.org/W2148962693","https://openalex.org/W2164553222","https://openalex.org/W2171466535","https://openalex.org/W6679874827","https://openalex.org/W7056864468"],"related_works":["https://openalex.org/W2083550201","https://openalex.org/W2116242530","https://openalex.org/W2507513082","https://openalex.org/W2782381505","https://openalex.org/W886502991","https://openalex.org/W3048587953","https://openalex.org/W3003761531","https://openalex.org/W54244440","https://openalex.org/W2100092009","https://openalex.org/W1987512627"],"abstract_inverted_index":{"The":[0],"population":[1],"of":[2,29,38,136,165],"disabled":[3],"stroke":[4],"survivors":[5],"is":[6,78,91,98],"increasing":[7],"sharply":[8],"over":[9],"the":[10,27,35,60,71,96,109,122,128,131,159,178,195,202],"world,":[11],"and":[12,25,55,63,67,84,88,105,117,124,130,143,162,168,177,198],"robot-assisted":[13],"training":[14,58,138,145],"has":[15],"been":[16],"proved":[17],"to":[18,21,52,70,80,157],"be":[19],"effective":[20],"help":[22],"motor":[23,114],"relearning":[24],"alleviate":[26],"shortage":[28],"physical":[30],"therapists.":[31],"This":[32],"paper":[33],"presents":[34],"design":[36],"details":[37],"a":[39,82],"novel":[40],"upper":[41,102],"limb":[42,103],"rehabilitation":[43,57],"robot":[44],"named":[45],"CASIA-ARM,":[46],"which":[47,93],"can":[48],"assist":[49],"poststroke":[50],"patients":[51],"perform":[53],"shoulder":[54],"elbow":[56],"in":[59,108,152,174,194,201],"horizontal":[61],"plane,":[62],"provide":[64],"both":[65],"force":[66,189],"visual":[68],"feedback":[69],"patient:":[72],"1)":[73],"A":[74],"five-bar":[75],"closed-chain":[76],"structure":[77],"designed":[79],"realize":[81],"stiff":[83],"low-inertial":[85],"mechanism.":[86],"Workspace":[87],"singularity":[89,107],"analysis":[90],"given,":[92],"guarantees":[94],"that":[95],"workspace":[97],"large":[99],"enough":[100],"for":[101],"moving":[104],"no":[106],"workspace.":[110],"2)":[111],"Cable":[112],"transmission,":[113],"current":[115],"controller":[116],"impedance":[118,148],"control":[119,142,149,190],"method":[120],"guarantee":[121],"transparent":[123],"compliant":[125],"interaction":[126],"between":[127],"human":[129],"robot.":[132],"3)":[133],"Implementation":[134],"examples":[135,164],"passive":[137],"based":[139,146],"on":[140,147],"position":[141],"active":[144,169],"are":[150,172,182],"presented":[151],"detail.":[153],"4)":[154],"In":[155],"order":[156],"evaluate":[158],"robot's":[160],"applicability":[161],"performance,":[163],"trajectory":[166],"tracking":[167],"reaching":[170],"tasks":[171],"used":[173],"this":[175],"study,":[176],"preliminary":[179],"test":[180],"results":[181],"also":[183],"given":[184],"(tracking":[185],"error:":[186,191],"0.86\u00b10:42":[187],"mm,":[188],"1.41\u00b10.79":[192],"N":[193,200],"X":[196],"direction,":[197],"1.22\u00b10.91":[199],"Y":[203],"direction).":[204]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}