{"id":"https://openalex.org/W4285114006","doi":"https://doi.org/10.1109/lra.2022.3188402","title":"Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks","display_name":"Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks","publication_year":2022,"publication_date":"2022-07-05","ids":{"openalex":"https://openalex.org/W4285114006","doi":"https://doi.org/10.1109/lra.2022.3188402"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3188402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3188402","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11382/554731","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004870826","display_name":"Lorenzo Grazi","orcid":"https://orcid.org/0000-0003-4899-9346"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Lorenzo Grazi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","Department of Excellence in Robotics & AI, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4899-9346","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021700822","display_name":"Emilio Trigili","orcid":"https://orcid.org/0000-0002-3725-5694"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emilio Trigili","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","Department of Excellence in Robotics & AI, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3725-5694","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023403122","display_name":"Noemi Caloi","orcid":"https://orcid.org/0000-0002-9313-0570"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Noemi Caloi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9313-0570","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001453236","display_name":"Giulia Ramella","orcid":"https://orcid.org/0000-0002-8664-3175"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Ramella","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","Department of Excellence in Robotics & AI, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8664-3175","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031627615","display_name":"Francesco Giovacchini","orcid":"https://orcid.org/0009-0008-9913-5584"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesco Giovacchini","raw_affiliation_strings":["IUVO S.r.l., Pontedera, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IUVO S.r.l., Pontedera, Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019123028","display_name":"Nicola Vitiello","orcid":"https://orcid.org/0000-0001-8636-7716"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Vitiello","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","Department of Excellence in Robotics & AI, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8636-7716","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","institution_ids":["https://openalex.org/I4210116940"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Pisa, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008055713","display_name":"Simona Crea","orcid":"https://orcid.org/0000-0001-9833-4401"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simona Crea","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","Department of Excellence in Robotics & AI, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9833-4401","affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant&#x0027;Anna, Pontedera, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","institution_ids":["https://openalex.org/I4210116940"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Pisa, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5004870826"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":2.4512,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.88925724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"7","issue":"4","first_page":"8675","last_page":"8682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9958000183105469,"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":0.9957000017166138,"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/exoskeleton","display_name":"Exoskeleton","score":0.8651631474494934},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.813286304473877},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6688259840011597},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.6242988705635071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6165505647659302},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.553277850151062},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4927270710468292},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4434019923210144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22332611680030823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21261125802993774}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8651631474494934},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.813286304473877},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6688259840011597},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.6242988705635071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6165505647659302},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.553277850151062},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4927270710468292},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4434019923210144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22332611680030823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21261125802993774},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3188402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3188402","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:11382/554731","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/554731","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:zenodo.org:13972083","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2022.3188402","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 7(4), (2022-07-05)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:www.iris.sssup.it:11382/554731","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/554731","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W586349601","https://openalex.org/W2000439420","https://openalex.org/W2082041762","https://openalex.org/W2765377473","https://openalex.org/W2793034949","https://openalex.org/W2886870283","https://openalex.org/W2893906814","https://openalex.org/W2919681907","https://openalex.org/W2955927639","https://openalex.org/W2971515543","https://openalex.org/W2978480937","https://openalex.org/W2989683011","https://openalex.org/W2999222405","https://openalex.org/W3016322172","https://openalex.org/W3047097415","https://openalex.org/W3091955930","https://openalex.org/W3108480587","https://openalex.org/W3131670369","https://openalex.org/W3196966008","https://openalex.org/W3200692492","https://openalex.org/W3204912127","https://openalex.org/W4205638872","https://openalex.org/W4205780503","https://openalex.org/W6759911655"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732","https://openalex.org/W4303574780","https://openalex.org/W2590554196"],"abstract_inverted_index":{"Typical":[0],"industrial":[1],"work":[2],"activities":[3,89],"may":[4,38],"include":[5],"a":[6,55,62],"variety":[7],"of":[8,14,54,84,112],"different":[9,40,105],"gestures,":[10,32],"entailing":[11],"the":[12,24,34,43,48,77,82,94,100,110,118,126,130,139,141,145,151],"execution":[13],"dynamic":[15,31,123,158,191],"and":[16,30,51,125,159,167,186,192],"static":[17,29,132,160,193],"movements.":[18],"Occupational":[19],"upper-limb":[20,64],"exoskeletons":[21],"can":[22,102,149],"assist":[23],"shoulder":[25],"complex":[26],"in":[27,156,190],"both":[28,157],"but":[33],"required":[35],"assistance":[36,59,78,106],"level":[37,120,128],"be":[39],"according":[41,80,108],"to":[42,75,81,92,109,136],"tasks.":[44,194],"This":[45],"article":[46],"presents":[47],"design,":[49],"development,":[50],"experimental":[52],"evaluation":[53],"novel":[56],"kinematics-based":[57],"adaptive":[58,147],"algorithm":[60,67,101,148],"for":[61,121,129,175],"semi-passive":[63],"exoskeleton.":[65],"The":[66],"uses":[68],"kinematic":[69],"signals":[70],"gathered":[71],"by":[72,144,163,182],"onboard":[73],"sensors":[74],"set":[76],"amplitude":[79],"type":[83,111],"movement":[85],"being":[86,114],"executed.":[87],"Experimental":[88],"were":[90,173],"performed":[91],"assess":[93],"algorithm's":[95],"performance.":[96],"Results":[97],"show":[98],"that":[99],"effectively":[103],"provide":[104],"levels":[107],"task":[113],"executed,":[115],"such":[116],"as":[117],"minimum":[119],"more":[122],"tasks":[124],"maximum":[127],"most":[131],"activities.":[133],"Additionally,":[134],"compared":[135],"working":[137],"without":[138],"exoskeleton,":[140],"exoskeleton":[142],"controlled":[143],"proposed":[146],"reduce":[150],"users\u2019":[152],"flexor":[153],"muscular":[154],"activity":[155],"tasks,":[161],"respectively":[162],"24":[164],"\u00b1":[165,169,184,188],"6%":[166],"42":[168],"2%.":[170],"Similar":[171],"results":[172],"reported":[174],"extensor":[176],"muscles,":[177],"which":[178],"reduced":[179],"their":[180],"activations":[181],"7":[183],"3%,":[185],"40":[187],"4%":[189]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}
