{"id":"https://openalex.org/W4285205191","doi":"https://doi.org/10.1109/lra.2022.3183251","title":"RTSRAs: A Series-Parallel-Reconfigurable Tendon-Driven Supernumerary Robotic Arms","display_name":"RTSRAs: A Series-Parallel-Reconfigurable Tendon-Driven Supernumerary Robotic Arms","publication_year":2022,"publication_date":"2022-06-15","ids":{"openalex":"https://openalex.org/W4285205191","doi":"https://doi.org/10.1109/lra.2022.3183251"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3183251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3183251","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/A5044414428","display_name":"Qinghua Zhang","orcid":"https://orcid.org/0000-0002-4852-1003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinghua Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-4852-1003","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015340798","display_name":"Changle Li","orcid":"https://orcid.org/0000-0003-2568-8908"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changle Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045424176","display_name":"Hongwei Jing","orcid":"https://orcid.org/0000-0002-9842-472X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwei Jing","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9842-472X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006902797","display_name":"Hongwu Li","orcid":"https://orcid.org/0000-0003-0640-3399"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwu Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-0640-3399","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109601673","display_name":"Xianglong Li","orcid":"https://orcid.org/0000-0003-1517-9114"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianglong Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079791334","display_name":"Haotian Ju","orcid":"https://orcid.org/0000-0001-7911-8324"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haotian Ju","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-7911-8324","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381038","display_name":"Yuan Tang","orcid":"https://orcid.org/0000-0003-3098-6571"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Tang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1960-6278","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.587,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.81535199,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"7407","last_page":"7414"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/flexibility","display_name":"Flexibility (engineering)","score":0.6611193418502808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6150295734405518},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5706701874732971},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5493259429931641},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4672425091266632},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4406963288784027},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4263225197792053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3852919936180115},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.2682149112224579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.206478089094162}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6611193418502808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6150295734405518},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5706701874732971},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5493259429931641},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4672425091266632},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4406963288784027},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4263225197792053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3852919936180115},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2682149112224579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.206478089094162},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3183251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3183251","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2025939589","https://openalex.org/W2043144176","https://openalex.org/W2104212135","https://openalex.org/W2313937152","https://openalex.org/W2315124452","https://openalex.org/W2737440582","https://openalex.org/W2737979333","https://openalex.org/W2738469521","https://openalex.org/W2774701410","https://openalex.org/W2793484124","https://openalex.org/W2890404143","https://openalex.org/W2897414246","https://openalex.org/W2897701914","https://openalex.org/W2986702829","https://openalex.org/W2999711615","https://openalex.org/W3017075595","https://openalex.org/W3038639781","https://openalex.org/W3039751018","https://openalex.org/W3111196265","https://openalex.org/W3129396567","https://openalex.org/W3143499818","https://openalex.org/W4211003818","https://openalex.org/W4211100431","https://openalex.org/W6776022387"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"Supernumerary":[0,42,56],"robotic":[1,57],"limbs":[2,58],"(SRL)":[3,59],"are":[4],"new":[5],"types":[6],"of":[7,38,103,107,124,144,150,160],"wearable":[8],"robots":[9],"used":[10],"as":[11],"the":[12,25,34,53,77,101,122,128,131,137,148,158],"third":[13],"limb":[14],"to":[15,23,73,93,96,120,130],"work":[16],"with":[17,27,64],"humans.":[18],"The":[19,113,162],"device":[20],"is":[21,47],"designed":[22],"provide":[24],"wearer":[26],"better":[28,94],"auxiliary":[29],"ability.":[30],"This":[31],"paper":[32],"presents":[33],"design":[35],"and":[36,50,82,140,152,174],"implementation":[37],"a":[39,86,176],"Series-Parallel-Reconfigurable":[40,87],"Tendon-driven":[41],"Robotic":[43],"Arms":[44],"(RTSRAs),":[45],"which":[46,134],"lightweight,":[48],"compact":[49],"Multi-assistive":[51],"for":[52],"wearers.":[54],"Existing":[55],"almost":[60],"use":[61],"series":[62],"configurations":[63],"high":[65],"flexibility,":[66,83],"but":[67],"relatively":[68],"poor":[69],"carrying":[70],"capacity":[71,81,143],"compared":[72],"parallel":[74],"configurations.":[75],"Balancing":[76],"contradiction":[78],"between":[79],"load":[80,142,171],"we":[84,156],"propose":[85],"configuration":[88],"requiring":[89],"clever":[90],"end-conversion":[91],"tools":[92],"adapt":[95],"variable":[97],"tasks.":[98],"To":[99],"achieve":[100],"compactness":[102],"RTSRAs,":[104],"two":[105],"kinds":[106],"tendon-driven":[108,115],"joint":[109,116],"module":[110,117],"were":[111],"designed.":[112],"coupled":[114],"was":[118],"applied":[119,168],"transmit":[121],"power":[123],"motors":[125],"mounted":[126],"near":[127],"backboard":[129],"elbow":[132],"joints,":[133],"greatly":[135],"reduce":[136],"motion":[138],"inertia":[139],"increase":[141],"RTSRAs.":[145,161],"Finally,":[146],"on":[147],"basis":[149],"forward":[151],"inverse":[153],"kinematics":[154],"analysis,":[155],"make":[157],"evaluation":[159],"proposed":[163],"RTSRAs":[164],"has":[165],"been":[166],"successfully":[167],"in":[169,179],"typical":[170],"operation":[172],"scenario":[173],"suggests":[175],"great":[177],"potential":[178],"future":[180],"applications.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}