{"id":"https://openalex.org/W2088743848","doi":"https://doi.org/10.1109/robio.2013.6739477","title":"Preliminary design and development of a two degrees of freedom passive compliant prosthetic wrist with switchable stiffness","display_name":"Preliminary design and development of a two degrees of freedom passive compliant prosthetic wrist with switchable stiffness","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2088743848","doi":"https://doi.org/10.1109/robio.2013.6739477","mag":"2088743848"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5014192747","display_name":"Federico Montagnani","orcid":null},"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":"Federico Montagnani","raw_affiliation_strings":["The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]"],"affiliations":[{"raw_affiliation_string":"The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026873025","display_name":"Marco Controzzi","orcid":"https://orcid.org/0000-0003-2135-0707"},"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":"Marco Controzzi","raw_affiliation_strings":["The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]"],"affiliations":[{"raw_affiliation_string":"The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103097503","display_name":"Christian Cipriani","orcid":"https://orcid.org/0000-0003-2108-0700"},"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":"Christian Cipriani","raw_affiliation_strings":["The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]"],"affiliations":[{"raw_affiliation_string":"The Biorobotics Institute, Scuola Superiore Sant\u2019 Anna, Pontedera (Pi), Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"[BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy]","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014192747"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.4104,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.66383401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"310","last_page":"315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","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/T10982","display_name":"Motor Control and Adaptation","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.8938938975334167},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6669960021972656},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.5816720724105835},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5380223989486694},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.5309571623802185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5086782574653625},{"id":"https://openalex.org/keywords/articulation","display_name":"Articulation (sociology)","score":0.45879030227661133},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4072546660900116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3299894332885742},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20341545343399048},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17614230513572693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1433854103088379},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.1294107735157013},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.057936668395996094}],"concepts":[{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.8938938975334167},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6669960021972656},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.5816720724105835},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5380223989486694},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5309571623802185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5086782574653625},{"id":"https://openalex.org/C2779337067","wikidata":"https://www.wikidata.org/wiki/Q4800961","display_name":"Articulation (sociology)","level":3,"score":0.45879030227661133},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4072546660900116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3299894332885742},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20341545343399048},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17614230513572693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1433854103088379},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.1294107735157013},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.057936668395996094},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2013.6739477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/417652","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/417652","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":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W160110442","https://openalex.org/W1980542956","https://openalex.org/W1992984279","https://openalex.org/W1997815560","https://openalex.org/W2037740992","https://openalex.org/W2053438251","https://openalex.org/W2080716911","https://openalex.org/W2084648493","https://openalex.org/W2112707027","https://openalex.org/W2168281825"],"related_works":["https://openalex.org/W2406926056","https://openalex.org/W2048493693","https://openalex.org/W2559360246","https://openalex.org/W2609289561","https://openalex.org/W1996668300","https://openalex.org/W2416809655","https://openalex.org/W2364463730","https://openalex.org/W110334421","https://openalex.org/W2170071336","https://openalex.org/W2013246180"],"abstract_inverted_index":{"Amputees":[0],"wearing":[1],"a":[2,71,90,146],"transradial":[3],"prosthesis":[4],"are":[5,61,66,124],"compelled":[6],"to":[7,24,40,86,117],"perform":[8],"compensatory":[9],"movements":[10,38,115],"of":[11,27,29,74,93,107,136,145,159],"the":[12,21,25,44,101,118,122],"shoulder,":[13],"elbow":[14],"and":[15,69,105,126,155],"trunk,":[16],"while":[17],"reaching":[18],"objects":[19],"in":[20,32,43,89,157],"environment,":[22],"due":[23],"lack":[26],"degrees":[28],"freedom":[30],"(DoF)":[31],"their":[33],"artificial":[34],"arm.":[35],"These":[36,76],"unnatural":[37],"yield":[39],"articulation":[41],"injuries":[42],"long":[45],"run,":[46],"which":[47],"could":[48],"be":[49,141],"reduced/eliminated":[50],"by":[51,143],"adding":[52],"an":[53,108],"articulated":[54],"compliant":[55,59],"wrist.":[56,113],"Several":[57],"passive":[58,137],"wrists":[60],"commercially":[62],"available,":[63],"however":[64],"they":[65],"manually":[67],"adjustable":[68],"present":[70,100],"unique":[72],"level":[73],"stiffness.":[75],"features":[77],"make":[78],"them":[79,88],"not":[80],"very":[81],"functional":[82],"when":[83],"it":[84],"comes":[85],"use":[87],"broad":[91],"range":[92],"daily":[94],"activities.":[95],"In":[96],"this":[97],"paper":[98],"we":[99],"design,":[102],"preliminary":[103,151],"development":[104],"characterization":[106],"innovative":[109],"two":[110,133],"DoFs":[111],"prosthetic":[112],"The":[114,128],"allowed":[116],"hand":[119],"mounted":[120],"on":[121],"wrist":[123,129],"flexion/extension":[125],"abduction/adduction.":[127],"is":[130],"provided":[131],"with":[132],"switchable":[134],"levels":[135],"compliance":[138],"that":[139],"can":[140],"selected":[142],"means":[144],"linear":[147],"actuation":[148],"system.":[149],"A":[150],"prototype":[152],"was":[153],"developed":[154],"characterized":[156],"terms":[158],"stiffness":[160],"response.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
