{"id":"https://openalex.org/W4312560352","doi":"https://doi.org/10.1109/iros47612.2022.9981932","title":"Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance","display_name":"Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312560352","doi":"https://doi.org/10.1109/iros47612.2022.9981932"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981932","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5068858678","display_name":"Basma Hasanen","orcid":"https://orcid.org/0000-0003-3654-4918"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Basma B. Hasanen","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079348432","display_name":"Mohammad I. Awad","orcid":"https://orcid.org/0000-0003-1576-5359"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Mohammad I. Awad","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056427994","display_name":"Mohamed Nassim Boushaki","orcid":"https://orcid.org/0000-0001-5654-0653"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Mohamed N. Boushaki","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044860204","display_name":"Zhenwei Niu","orcid":"https://orcid.org/0000-0002-5302-5805"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Zhenwei Niu","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028815978","display_name":"Mohamed A. Ramadan","orcid":"https://orcid.org/0000-0003-1725-8254"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Mohammed A. Ramadan","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University, Abu Dhabi, United Arab Emirates,Center of Autonomous Robotics Systems,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Center of Autonomous Robotics Systems, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]},{"raw_affiliation_string":"Mechanical Engineering Department, Khalifa University, Abu Dhabi, United Arab Emirates, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068858678"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":2.8948,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93073463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1892","last_page":"1899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9990000128746033,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.995199978351593,"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":0.9940000176429749,"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/actuator","display_name":"Actuator","score":0.7344751358032227},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5888249278068542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4975002110004425},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4711310565471649},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.454253226518631},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.41851240396499634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3731309175491333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3289143443107605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23869851231575012},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14994016289710999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1033872663974762},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0902969241142273}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7344751358032227},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5888249278068542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4975002110004425},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4711310565471649},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.454253226518631},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.41851240396499634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3731309175491333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3289143443107605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23869851231575012},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14994016289710999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1033872663974762},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0902969241142273},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981932","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1537629355","https://openalex.org/W1676025868","https://openalex.org/W1992472309","https://openalex.org/W2001247920","https://openalex.org/W2017514441","https://openalex.org/W2073136132","https://openalex.org/W2096178249","https://openalex.org/W2113073759","https://openalex.org/W2131404784","https://openalex.org/W2138578394","https://openalex.org/W2154606490","https://openalex.org/W2169706473","https://openalex.org/W2290471323","https://openalex.org/W2293834402","https://openalex.org/W2315124452","https://openalex.org/W2566524068","https://openalex.org/W2604476112","https://openalex.org/W2738469521","https://openalex.org/W2738835077","https://openalex.org/W2762248135","https://openalex.org/W2767102139","https://openalex.org/W2775692504","https://openalex.org/W2792191496","https://openalex.org/W2921112006","https://openalex.org/W3043485894","https://openalex.org/W3129593667","https://openalex.org/W3210535845","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2773810465","https://openalex.org/W3101820272","https://openalex.org/W2123055169","https://openalex.org/W1978574942","https://openalex.org/W2619747063","https://openalex.org/W1502247793","https://openalex.org/W4224212509","https://openalex.org/W2585261412"],"abstract_inverted_index":{"Loss":[0],"of":[1,39,157],"upper":[2],"extremity":[3],"motor":[4],"control":[5],"and":[6,58,74,102,150,155,167,187],"function":[7],"is":[8,127,203],"an":[9,44],"unremitting":[10],"symptom":[11],"in":[12,51,142],"post-stroke":[13,140],"patients.":[14],"This":[15],"would":[16,138],"impose":[17],"hardships":[18],"on":[19,115,120],"accomplishing":[20],"their":[21,67,85],"daily":[22],"life":[23],"activities.":[24],"Supernumerary":[25,111],"robotic":[26],"limbs":[27],"(SRLs)":[28],"were":[29,192],"introduced":[30],"as":[31],"a":[32,148],"solution":[33],"to":[34,99],"regain":[35],"the":[36,109,123,128,158,181,195],"lost":[37],"Degrees":[38],"Freedom":[40],"(DoFs)":[41],"by":[42,179],"introducing":[43],"independent":[45],"new":[46],"limb.":[47],"The":[48,135,152,162,175,200],"actuation":[49],"systems":[50],"SRL":[52,126,137,164],"can":[53],"be":[54],"categorized":[55],"into":[56],"rigid":[57,68],"soft":[59],"actuators.":[60],"Soft":[61,196],"actuators":[62],"have":[63,96],"proven":[64,98],"advantageous":[65],"over":[66],"counterparts":[69],"through":[70,194,206],"intrinsic":[71],"safety,":[72],"cost,":[73],"energy":[75],"efficiency.":[76],"However,":[77],"they":[78],"suffer":[79],"from":[80],"low":[81],"stiffness,":[82],"which":[83],"jeopardizes":[84],"accuracy.":[86],"Variable":[87,116,132],"Stiffness":[88,117,133],"Actuators":[89],"(VSAs)":[90],"are":[91,160],"newly":[92],"developed":[93,136],"technologies":[94],"that":[95,130],"been":[97],"ensure":[100],"accuracy":[101,171],"safety.":[103],"In":[104],"this":[105],"paper,":[106],"we":[107],"introduce":[108],"novel":[110],"Robotic":[112],"Limb":[113],"based":[114],"Actuators.":[118,134],"Based":[119],"our":[121],"knowledge,":[122],"proposed":[124,163],"proof-of-concept":[125],"first":[129],"utilizes":[131],"assist":[139],"patients":[141],"bi-manual":[143],"tasks,":[144],"e.g.,":[145],"eating":[146],"with":[147],"fork":[149],"knife.":[151],"modeling,":[153],"design,":[154],"realization":[156],"system":[159],"illustrated.":[161],"was":[165,177],"evaluated":[166,193],"verified":[168,178,205],"for":[169,184],"its":[170],"via":[172],"predefined":[173],"trajectories.":[174],"safety":[176],"utilizing":[180],"momentum":[182],"observer":[183],"collision":[185],"detection,":[186],"several":[188],"post-collision":[189],"reaction":[190],"strategies":[191],"Tissue":[197],"Injury":[198],"Test.":[199],"assistance":[201],"process":[202],"qualitatively":[204],"standard":[207],"user-satisfaction":[208],"questionnaire.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}