{"id":"https://openalex.org/W4410027951","doi":"https://doi.org/10.1109/lra.2025.3566613","title":"Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton","display_name":"Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton","publication_year":2025,"publication_date":"2025-05-02","ids":{"openalex":"https://openalex.org/W4410027951","doi":"https://doi.org/10.1109/lra.2025.3566613"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3566613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3566613","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/A5101759250","display_name":"Ning Sun","orcid":"https://orcid.org/0000-0003-3467-5973"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Sun","raw_affiliation_strings":["School of Information Science and Engineering, Shandong Normal University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-3467-5973","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Shandong Normal University, Jinan, China","institution_ids":["https://openalex.org/I28006308"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zelong Wang","orcid":"https://orcid.org/0009-0007-2621-7311"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zelong Wang","raw_affiliation_strings":["School of Information Science and Engineering, Shandong Normal University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0007-2621-7311","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Shandong Normal University, Jinan, China","institution_ids":["https://openalex.org/I28006308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108401200","display_name":"Long Cheng","orcid":"https://orcid.org/0000-0001-7565-8788"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Cheng","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7565-8788","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035306577","display_name":"Houcheng Li","orcid":"https://orcid.org/0000-0002-8176-9772"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houcheng Li","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8176-9772","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029380465","display_name":"Ben Niu","orcid":"https://orcid.org/0000-0002-3680-5594"},"institutions":[{"id":"https://openalex.org/I28006308","display_name":"Shandong Normal University","ror":"https://ror.org/01wy3h363","country_code":"CN","type":"education","lineage":["https://openalex.org/I28006308"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ben Niu","raw_affiliation_strings":["School of Information Science and Engineering, Shandong Normal University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-3680-5594","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Shandong Normal University, Jinan, China","institution_ids":["https://openalex.org/I28006308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041148276","display_name":"Xijin Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xijin Sun","raw_affiliation_strings":["Institute of Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100343520","display_name":"Ke Li","orcid":"https://orcid.org/0000-0002-8660-0116"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Li","raw_affiliation_strings":["Institute of Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-8660-0116","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Medical Engineering, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6837,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63751186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"6456","last_page":"6463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9778000116348267,"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":0.9778000116348267,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8858007788658142},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6639702916145325},{"id":"https://openalex.org/keywords/index","display_name":"Index (typography)","score":0.5767316818237305},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387734770774841},{"id":"https://openalex.org/keywords/index-finger","display_name":"Index finger","score":0.44780927896499634},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.16507652401924133},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08648329973220825},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08328580856323242}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8858007788658142},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6639702916145325},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.5767316818237305},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387734770774841},{"id":"https://openalex.org/C2777087348","wikidata":"https://www.wikidata.org/wiki/Q184848","display_name":"Index finger","level":2,"score":0.44780927896499634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.16507652401924133},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08648329973220825},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08328580856323242},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3566613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3566613","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":[{"id":"https://openalex.org/G1986256372","display_name":null,"funder_award_id":"62073195","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2961309887","display_name":null,"funder_award_id":"2024M751902","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3882188835","display_name":null,"funder_award_id":"62025307","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6686779602","display_name":null,"funder_award_id":"62333023","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7950895672","display_name":null,"funder_award_id":"20230484400","funder_id":"https://openalex.org/F4320334978","funder_display_name":"Beijing Nova Program"},{"id":"https://openalex.org/G8208881188","display_name":null,"funder_award_id":"2023M743755","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8754945136","display_name":null,"funder_award_id":"ZR2023QF126","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320334978","display_name":"Beijing Nova Program","ror":"https://ror.org/034k14f91"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1576133390","https://openalex.org/W1964420206","https://openalex.org/W1992375966","https://openalex.org/W2024242733","https://openalex.org/W2038630298","https://openalex.org/W2113028304","https://openalex.org/W2136192280","https://openalex.org/W2139049236","https://openalex.org/W2294251513","https://openalex.org/W2326414650","https://openalex.org/W2384480205","https://openalex.org/W2797171398","https://openalex.org/W2899339972","https://openalex.org/W2998976823","https://openalex.org/W3128015947","https://openalex.org/W3172036006","https://openalex.org/W3179153950","https://openalex.org/W4212920057","https://openalex.org/W4298159557","https://openalex.org/W4312865143","https://openalex.org/W4315630673","https://openalex.org/W4376121330","https://openalex.org/W4384519119","https://openalex.org/W4388085855","https://openalex.org/W4389169636","https://openalex.org/W4390813452","https://openalex.org/W4392418472","https://openalex.org/W4400944278"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W4319781165","https://openalex.org/W2907402384","https://openalex.org/W2159866884","https://openalex.org/W3091315329"],"abstract_inverted_index":{"Hand":[0],"exoskeletons":[1,20],"have":[2,15],"become":[3],"increasingly":[4],"crucial":[5],"for":[6,76,172],"the":[7,19,58,77,90,102,106,119,133,137,142,152,156,161,165,178,190,194,202,206,211,219],"rehabilitation":[8,24],"of":[9,105,113,118,136,160,193],"hand":[10,28],"function,":[11],"as":[12],"relevant":[13],"studies":[14],"shown":[16],"that":[17,132,155],"using":[18],"to":[21,56],"assist":[22,57],"in":[23,61],"training":[25,144],"can":[26,82,140,188,209,222],"improve":[27],"motor":[29],"function.":[30],"However,":[31],"developing":[32],"a":[33,45,50,217],"human-robot":[34,84,228],"kinematic":[35,95,103,191],"compatibility":[36,96,104],"exoskeleton":[37,55,180,221],"while":[38],"providing":[39],"sufficient":[40,234],"assistance":[41,92,198,213,235],"torque":[42,199,214],"is":[43],"still":[44],"challenge.":[46],"This":[47],"paper":[48],"develops":[49],"series-parallel":[51,67,107],"self-aligning":[52],"index":[53,59],"finger":[54,60],"flexion/extension":[62,224],"and":[63,88,101,115,124,151,168,176,184,225,232],"adduction/abduction":[64,226],"training.":[65],"A":[66,94],"mechanism":[68,108,121,204],"driven":[69],"by":[70,201],"two":[71],"motors":[72],"simultaneously":[73],"was":[74,99,109,127],"proposed":[75,120,179,195,203,220],"metacarpophalangeal":[78],"(MCP)":[79],"joint,":[80],"which":[81,129,187],"ensure":[83],"joint":[85,91,139,208,212,229],"axes":[86,230],"self-alignment":[87],"increase":[89],"torque.":[93,236],"analysis":[97],"method":[98],"proposed,":[100],"analyzed.":[110],"The":[111,197],"degrees":[112],"freedom":[114],"forward":[116],"kinematics":[117],"were":[122,148],"analyzed,":[123],"its":[125],"workspace":[126],"calculated,":[128],"results":[130,153],"show":[131],"motion":[134,157],"range":[135],"MCP":[138,207],"meet":[141,210],"grasping":[143],"requirements.":[145,215],"Preliminary":[146],"experiments":[147],"carried":[149],"out,":[150],"indicate":[154],"trajectory":[158],"coefficients":[159],"marker":[162],"points":[163],"at":[164],"MCP,":[166],"PIP,":[167],"DIP":[169],"joints":[170],"averaged":[171],"all":[173],"subjects":[174],"with":[175],"without":[177],"are":[181],"0.993,":[182],"0.956,":[183],"0.939,":[185],"respectively,":[186],"verify":[189],"transparency":[192],"mechanism.":[196],"generated":[200],"on":[205],"In":[216],"word,":[218],"achieve":[223],"training,":[227],"self-alignment,":[231],"provide":[233]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}