{"id":"https://openalex.org/W4410204295","doi":"https://doi.org/10.1109/lra.2025.3568305","title":"A 3 Degrees-of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation","display_name":"A 3 Degrees-of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410204295","doi":"https://doi.org/10.1109/lra.2025.3568305"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568305","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3568305","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051636338","display_name":"Mihai Dragusanu","orcid":"https://orcid.org/0000-0001-9373-6866"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mihai Dragusanu","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9373-6866","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105048549","display_name":"Nicolas Guinet","orcid":null},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicolas Guinet","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044560238","display_name":"Bhivraj Suthar","orcid":"https://orcid.org/0000-0002-0561-2984"},"institutions":[{"id":"https://openalex.org/I154549908","display_name":"Indian Institute of Technology Jodhpur","ror":"https://ror.org/03yacj906","country_code":"IN","type":"education","lineage":["https://openalex.org/I154549908"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Bhivraj Suthar","raw_affiliation_strings":["School of Artificial Intelligence and Data Science, Indian Institute of Technology Jodhpur (IITJ), Jodhpur, India","School of Artificial Intelligence and Data Science, Indian Institute of Technology Jodhpur (IITJ), India"],"raw_orcid":"https://orcid.org/0000-0002-0561-2984","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Indian Institute of Technology Jodhpur (IITJ), Jodhpur, India","institution_ids":["https://openalex.org/I154549908"]},{"raw_affiliation_string":"School of Artificial Intelligence and Data Science, Indian Institute of Technology Jodhpur (IITJ), India","institution_ids":["https://openalex.org/I154549908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052652565","display_name":"Tommaso Lisini Baldi","orcid":"https://orcid.org/0000-0002-2930-955X"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tommaso Lisini Baldi","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2930-955X","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Prattichizzo","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9051-9698","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018301156","display_name":"Monica Malvezzi","orcid":"https://orcid.org/0000-0002-2158-5920"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Monica Malvezzi","raw_affiliation_strings":["Department of Information Engineering and Mathematics, University of Siena, Siena, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2158-5920","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Mathematics, University of Siena, Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.013,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95084653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"6","first_page":"6520","last_page":"6527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.991100013256073,"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":0.991100013256073,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9708999991416931,"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/T12459","display_name":"Nerve Injury and Rehabilitation","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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":0.9122123718261719},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.666892409324646},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5624862909317017},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5387474298477173},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5339414477348328},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.45882463455200195},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.45309877395629883},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.392114520072937},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.327528178691864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27689117193222046},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.19909211993217468},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19675308465957642},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1935388445854187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1411665380001068},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10374903678894043}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9122123718261719},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.666892409324646},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5624862909317017},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5387474298477173},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5339414477348328},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.45882463455200195},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.45309877395629883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.392114520072937},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.327528178691864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27689117193222046},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.19909211993217468},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19675308465957642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1935388445854187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1411665380001068},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10374903678894043},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3568305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568305","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:usiena-air.unisi.it:11365/1294055","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/document/10993293","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3568305","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568305","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1991761189","https://openalex.org/W2004591261","https://openalex.org/W2026972521","https://openalex.org/W2038439784","https://openalex.org/W2053041901","https://openalex.org/W2098022953","https://openalex.org/W2110741537","https://openalex.org/W2126663592","https://openalex.org/W2192139261","https://openalex.org/W2340355795","https://openalex.org/W2401573224","https://openalex.org/W2467301443","https://openalex.org/W2572646513","https://openalex.org/W2594031419","https://openalex.org/W2900438029","https://openalex.org/W2947665220","https://openalex.org/W2960151612","https://openalex.org/W2977642584","https://openalex.org/W3012431463","https://openalex.org/W3091721301","https://openalex.org/W3118674150","https://openalex.org/W4205538931","https://openalex.org/W4213104648","https://openalex.org/W4298159557","https://openalex.org/W4319925988","https://openalex.org/W4362613092","https://openalex.org/W4387638401","https://openalex.org/W4390395553","https://openalex.org/W4391300382","https://openalex.org/W4403676258","https://openalex.org/W4406355200","https://openalex.org/W6740942679"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,51,69,82],"lightweight,":[4],"three-degrees-of-freedom":[5],"exoskeleton":[6,36,95],"for":[7,108,115,124,129,134,142],"wrist":[8,78,100],"rehabilitation":[9,42,130],"powered":[10],"by":[11,81],"Twisted":[12],"String":[13],"Actuators":[14],"(TSAs),":[15],"specifically":[16],"designed":[17],"to":[18,59,75],"support":[19],"flexion/extension,":[20,109],"radial/ulnar":[21,116,137],"deviation,":[22,117,138],"and":[23,40,57,118,136,139],"pronation/supination":[24],"movements.":[25],"Leveraging":[26],"the":[27,35,72,98],"high":[28],"power-to-weight":[29],"ratio":[30],"of":[31,102],"TSA":[32],"actuation":[33],"system,":[34],"ensures":[37],"effective,":[38],"comfortable,":[39],"personalized":[41],"exercises.":[43],"The":[44,63,94],"device":[45],"comprises":[46],"five":[47],"TSAs":[48],"arranged":[49],"in":[50],"tendon-driven":[52],"configuration,":[53],"enabling":[54],"precise":[55],"control":[56],"adaptability":[58],"various":[60],"user":[61],"anatomies.":[62],"experimental":[64],"evaluations":[65],"was":[66],"conducted":[67],"on":[68],"prototype":[70],"demonstrating":[71],"device's":[73],"ability":[74],"accurately":[76],"replicate":[77],"movements":[79],"guided":[80],"physiotherapist,":[83],"achieving":[84],"low":[85],"tracking":[86],"errors":[87],"(RMSE":[88],"<inline-formula":[89,110,119],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[90,104,111,120],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[91,105,112,121],"notation=\"LaTeX\">$1^{\\circ":[92],"}$</tex-math></inline-formula>).":[93],"effectively":[96],"achieves":[97],"desired":[99],"range":[101],"motion-<inline-formula":[103],"notation=\"LaTeX\">$115^{\\circ":[106],"}$</tex-math></inline-formula>":[107,114,123],"notation=\"LaTeX\">$70^{\\circ":[113],"notation=\"LaTeX\">$150^{\\circ":[122],"pronation/supination-with":[125],"torque":[126],"capabilities":[127],"suitable":[128],"purposes":[131],"(0.35":[132],"Nm":[133,141],"flexion/extension":[135],"0.06":[140],"pronation/supination).":[143]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}