{"id":"https://openalex.org/W3131670369","doi":"https://doi.org/10.1109/lra.2021.3061365","title":"Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers","display_name":"Kinematics-Based Control of an Inflatable Soft Wearable Robot for Assisting the Shoulder of Industrial Workers","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3131670369","doi":"https://doi.org/10.1109/lra.2021.3061365","mag":"3131670369"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061365","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5101702570","display_name":"Yu Zhou","orcid":"https://orcid.org/0000-0001-5762-7013"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yu Meng Zhou","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067284111","display_name":"Cameron J. Hohimer","orcid":"https://orcid.org/0000-0003-2259-8720"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cameron Hohimer","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018550099","display_name":"Tommaso Proietti","orcid":"https://orcid.org/0000-0002-8875-8646"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tommaso Proietti","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073548733","display_name":"Ciaran O\u2019Neill","orcid":"https://orcid.org/0000-0001-6902-9985"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ciaran Tomas O'Neill","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028193094","display_name":"Conor J. Walsh","orcid":"https://orcid.org/0000-0002-2744-917X"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Conor J. Walsh","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101702570"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":3.0462,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.91650152,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2155","last_page":"2162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9962999820709229,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9962999820709229,"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":0.9943000078201294,"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/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"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/kinematics","display_name":"Kinematics","score":0.8064526319503784},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6834745407104492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5607208609580994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.510185956954956},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.49081119894981384},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4906836748123169},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4616381824016571},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43621110916137695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4001970887184143},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31651657819747925},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.12772592902183533}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8064526319503784},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6834745407104492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5607208609580994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.510185956954956},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49081119894981384},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4906836748123169},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4616381824016571},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43621110916137695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4001970887184143},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31651657819747925},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.12772592902183533},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3061365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061365","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/552177","is_oa":false,"landing_page_url":"https://hdl.handle.net/11382/552177","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6987410160","display_name":null,"funder_award_id":"EFRI Award (1830896)","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2013633018","https://openalex.org/W2168117107","https://openalex.org/W2398289100","https://openalex.org/W2528715854","https://openalex.org/W2543193073","https://openalex.org/W2581011160","https://openalex.org/W2587945178","https://openalex.org/W2736909800","https://openalex.org/W2743511493","https://openalex.org/W2745216599","https://openalex.org/W2830500565","https://openalex.org/W2864403454","https://openalex.org/W2890784218","https://openalex.org/W2964389531","https://openalex.org/W2970390564","https://openalex.org/W2972739184","https://openalex.org/W2973970174","https://openalex.org/W2991365156","https://openalex.org/W3013258845"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"Recent":[0],"developments":[1],"in":[2,98,264,268],"soft":[3,48],"active":[4],"wearable":[5,49],"robots":[6],"can":[7],"be":[8],"used":[9],"for":[10,15,33,45,170,209,237,257],"upper":[11],"extremity":[12],"injury":[13],"prevention":[14],"healthy":[16],"industrial":[17,63],"workers":[18],"with":[19,84,172],"better":[20],"comfort":[21],"than":[22],"rigid":[23],"systems,":[24],"but":[25,202],"there":[26],"has":[27],"not":[28],"been":[29],"control":[30],"strategy":[31],"proposals":[32],"such":[34],"use":[35,64,70],"cases.":[36,65],"In":[37,163],"this":[38],"letter,":[39],"we":[40,125,165],"introduce":[41],"a":[42,71,157,258,265],"kinematics-based":[43,262],"controller":[44,130,169,189,220,240,263],"an":[46,167,203,232],"inflatable":[47],"robot":[50],"that":[51,127],"provides":[52],"assistance":[53],"to":[54,69,74,93,116,143,146,156,159,183,193,198,213,225,241],"the":[55,99,103,113,128,140,144,153,161,184,187,195,218,238,255],"shoulder":[56,79],"quickly":[57],"and":[58,80,101,108,135,149],"accurately":[59],"when":[60],"needed":[61],"during":[62,249],"Our":[66],"approach":[67],"is":[68],"state":[72,173],"machine":[73],"classify":[75],"user":[76],"intent":[77,105],"using":[78,112],"trunk":[81],"kinematics":[82,129,188,219,239],"estimated":[83],"body-worn":[85],"inertial":[86],"measurement":[87],"units.":[88],"We":[89,229],"recruited":[90],"eight":[91],"participants":[92],"perform":[94],"various":[95],"tasks":[96],"common":[97],"workplace":[100],"assessed":[102],"controller's":[104],"classification":[106,133],"accuracy":[107,248],"response":[109,244],"times,":[110],"by":[111,176],"users'":[114,196,211,226],"reactions":[115],"cues":[117],"as":[118],"their":[119],"ground":[120],"truth":[121],"intentions.":[122],"On":[123],"average,":[124],"found":[126],"had":[131],"99%":[132],"accuracy,":[134],"responded":[136],"0.8":[137],"seconds":[138,151,206],"after":[139,152],"users":[141,154],"reacted":[142,155],"cue":[145,158],"begin":[147],"work":[148,201,227,270],"0.5":[150],"stop":[160,199],"task.":[162],"addition,":[164],"implemented":[166,231],"EMG-based":[168,177],"comparison,":[171],"transitions":[174],"determined":[175],"thresholds":[178],"instead":[179],"of":[180,261],"kinematics.":[181],"Compared":[182],"EMG":[185],"controller,":[186],"required":[190],"similar":[191],"time":[192,245],"detect":[194],"intentions":[197,212],"overhead":[200],"additional":[204],"0.17":[205],"on":[207],"average":[208],"detecting":[210],"begin.":[214],"Although":[215],"slightly":[216],"slower,":[217],"still":[221],"provided":[222],"support":[223],"prior":[224],"initiations.":[228],"also":[230],"online":[233],"adaptive":[234],"tuning":[235],"algorithm":[236],"speed":[242],"up":[243],"while":[246],"ensuring":[247],"offset":[250],"transitions.":[251],"This":[252],"research":[253],"paves":[254],"way":[256],"further":[259],"study":[260],"mobile":[266],"system":[267],"real":[269],"environments.":[271]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
