{"id":"https://openalex.org/W4389666728","doi":"https://doi.org/10.1109/iros55552.2023.10341348","title":"A Handle Robot for Providing Bodily Support to Elderly Persons","display_name":"A Handle Robot for Providing Bodily Support to Elderly Persons","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666728","doi":"https://doi.org/10.1109/iros55552.2023.10341348"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5101456192","display_name":"Roberto Bolli","orcid":"https://orcid.org/0000-0001-8467-144X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Bolli","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066700427","display_name":"Paolo Bonato","orcid":"https://orcid.org/0000-0002-1818-1714"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I2799748957","display_name":"Spaulding Rehabilitation Hospital","ror":"https://ror.org/011dvr318","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799748957","https://openalex.org/I48633490"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paolo Bonato","raw_affiliation_strings":["Harvard Medical School, Spaulding Rehabilitation Hospital,Department of Physical Medicine and Rehabilitation,Charlestown,MA,USA,02129"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Medical School, Spaulding Rehabilitation Hospital,Department of Physical Medicine and Rehabilitation,Charlestown,MA,USA,02129","institution_ids":["https://openalex.org/I2799748957","https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012292967","display_name":"H. Harry Asada","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8876,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76168813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"122","last_page":"129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9965000152587891,"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":0.9965000152587891,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9750999808311462,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9448000192642212,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6276719570159912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6221612095832825},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5401730537414551},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.34820154309272766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2642762064933777}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6276719570159912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6221612095832825},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5401730537414551},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.34820154309272766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2642762064933777}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G539115378","display_name":"Graduate Research Fellowship Program (GRFP)","funder_award_id":"2141064","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1552815313","https://openalex.org/W2049410986","https://openalex.org/W2050520474","https://openalex.org/W2072480485","https://openalex.org/W2108256120","https://openalex.org/W2121647405","https://openalex.org/W2138728129","https://openalex.org/W2164043331","https://openalex.org/W2185189005","https://openalex.org/W2555858917","https://openalex.org/W3041047271","https://openalex.org/W3093871509","https://openalex.org/W3168861451","https://openalex.org/W3195541584","https://openalex.org/W4200596568","https://openalex.org/W4206460381","https://openalex.org/W4206560277","https://openalex.org/W4241079894","https://openalex.org/W6686177137","https://openalex.org/W6777213665"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Age-related":[0],"loss":[1],"of":[2,8,31,38,85,124,170,178,181,196],"mobility":[3],"and":[4,25,77,94,168,204,209,220],"an":[5,108,125],"increased":[6],"risk":[7],"falling":[9],"remain":[10],"major":[11],"obstacles":[12],"for":[13,150,224],"older":[14,109],"adults":[15],"to":[16,28,49,65,75,130,140,145,185,212],"live":[17],"independently.":[18],"Many":[19],"elderly":[20,152,198],"people":[21],"lack":[22],"the":[23,54,80,82,91,143,147,151,171,179,182,186,197,201,221],"coordination":[24],"strength":[26],"necessary":[27],"perform":[29],"activities":[30],"daily":[32],"living,":[33],"such":[34],"as":[35],"getting":[36],"out":[37],"bed":[39],"or":[40],"stepping":[41],"into":[42],"a":[43,66,103,112,131,138,163,192],"bathtub.":[44],"A":[45,159,215],"traditional":[46],"solution":[47],"is":[48,206],"install":[50],"grab":[51,61,86],"bars":[52,62,87],"around":[53],"home.":[55],"For":[56],"assisting":[57],"in":[58,116,176],"bathtub":[59],"transitions,":[60],"are":[63,71,88,95],"fixed":[64],"bathroom":[67],"wall.":[68],"However,":[69],"they":[70],"often":[72,96],"too":[73],"far":[74],"reach":[76],"stably":[78],"support":[79,149],"user;":[81],"installation":[83],"locations":[84],"constrained":[89],"by":[90],"room":[92],"layout":[93],"suboptimal.":[97],"In":[98],"this":[99],"paper,":[100],"we":[101],"present":[102],"mobile":[104,127],"robot":[105,122],"that":[106],"provides":[107],"adult":[110],"with":[111,162],"handlebar":[113,183],"located":[114],"anywhere":[115],"space":[117],"-":[118],"\u201cHandle":[119],"Anywhere\u201d.":[120],"The":[121,188],"consists":[123],"omnidirectional":[126],"base":[128],"attached":[129],"reposition":[132],"able":[133],"handlebar.":[134],"We":[135],"further":[136],"develop":[137],"methodology":[139,189],"optimally":[141],"place":[142],"handle":[144,225],"provide":[146],"maximum":[148],"user":[153,199],"while":[154],"performing":[155,200],"common":[156],"postural":[157,202],"changes.":[158],"cost":[160],"function":[161],"trade-off":[164],"between":[165],"mechanical":[166],"advantage":[167],"manipulability":[169],"user's":[172],"arm":[173],"was":[174,218,227],"optimized":[175],"terms":[177],"location":[180,226],"relative":[184],"user.":[187,214],"requires":[190],"only":[191],"sagittal":[193],"plane":[194],"video":[195],"change,":[203],"thus":[205],"rapid,":[207],"scalable,":[208],"uniquely":[210],"customizable":[211],"each":[213],"proof-of-concept":[216],"prototype":[217],"built,":[219],"optimization":[222],"algorithm":[223],"validated":[228],"experimentally.":[229]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
