{"id":"https://openalex.org/W1967259429","doi":"https://doi.org/10.1109/robio.2014.7090430","title":"Development and performance evaluation of parallel link type human ankle rehabilitation assistive device","display_name":"Development and performance evaluation of parallel link type human ankle rehabilitation assistive device","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1967259429","doi":"https://doi.org/10.1109/robio.2014.7090430","mag":"1967259429"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5048789115","display_name":"Teru Yonezawa","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Teru Yonezawa","raw_affiliation_strings":["Tokyo Rika Daigaku, Shinjuku-ku, Tokyo, JP","Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Rika Daigaku, Shinjuku-ku, Tokyo, JP","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073299776","display_name":"Kenta Nomura","orcid":"https://orcid.org/0009-0008-5386-2575"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenta Nomura","raw_affiliation_strings":["Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090494797","display_name":"Takayuki Onodera","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Onodera","raw_affiliation_strings":["Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606824","display_name":"Ming Ding","orcid":"https://orcid.org/0000-0002-4919-5772"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ming Ding","raw_affiliation_strings":["Nagoya University, Aichi, Japan","Nagoya University, Furocho, Nagoya Chikusa-ku, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Nagoya University, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Nagoya University, Furocho, Nagoya Chikusa-ku, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057754307","display_name":"Hiroshi Mizoguchi","orcid":"https://orcid.org/0000-0002-1322-6098"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Mizoguchi","raw_affiliation_strings":["Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029548362","display_name":"Hiroshi Takemura","orcid":"https://orcid.org/0000-0003-0434-3142"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Takemura","raw_affiliation_strings":["Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Tokyo University of Science, 2641, Yamazaki, Noda-shi, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048789115"],"corresponding_institution_ids":["https://openalex.org/I161296585"],"apc_list":null,"apc_paid":null,"fwci":1.1302,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77056768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"802","last_page":"807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9983999729156494,"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":0.9983999729156494,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9944999814033508,"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":0.9850000143051147,"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/link","display_name":"Link (geometry)","score":0.7248202562332153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6083659529685974},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5691121816635132},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.504848301410675},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.44626447558403015},{"id":"https://openalex.org/keywords/assistive-device","display_name":"Assistive device","score":0.41175544261932373},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3700926899909973},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.20979014039039612},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13391968607902527},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.1292763352394104}],"concepts":[{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.7248202562332153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6083659529685974},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5691121816635132},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.504848301410675},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.44626447558403015},{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.41175544261932373},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3700926899909973},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.20979014039039612},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13391968607902527},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.1292763352394104},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Gender equality","id":"https://metadata.un.org/sdg/5","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1555444101","https://openalex.org/W1576820199","https://openalex.org/W1997794697","https://openalex.org/W2000081885","https://openalex.org/W2008530845","https://openalex.org/W2008631999","https://openalex.org/W2022664343","https://openalex.org/W2071392303","https://openalex.org/W2077129956","https://openalex.org/W2095014003","https://openalex.org/W2104536749","https://openalex.org/W2107696528","https://openalex.org/W2120364821","https://openalex.org/W2134257665","https://openalex.org/W2171668894","https://openalex.org/W2275744032","https://openalex.org/W2276585358","https://openalex.org/W6633152776","https://openalex.org/W6634493925","https://openalex.org/W6678251754","https://openalex.org/W6694848453"],"related_works":["https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W4230332972","https://openalex.org/W1998033311","https://openalex.org/W4247322236","https://openalex.org/W4231165741","https://openalex.org/W233457313","https://openalex.org/W2104185603","https://openalex.org/W4295104149","https://openalex.org/W1762272577"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,61,80,85,160],"novel":[4],"rehabilitation":[5,15],"assistive":[6,16],"device":[7,17],"called":[8],"\u201cparallel":[10],"link":[11,63],"type":[12],"human":[13],"ankle":[14,33,43,50,265],"(PHARAD).\u201d":[18],"It":[19],"can":[20,259],"accurately":[21],"measure":[22,53,261],"foot":[23,57,81,86,90,96,151],"motions":[24,40,78,148,202,233],"in":[25],"six":[26,66],"degrees":[27],"of":[28,41,79,94,120,127,133,149,177,215,239],"freedom":[29],"and":[30,54,106,181,187,219,225,243,249,262,267],"reproduce":[31,55,263,272],"the":[32,38,42,77,89,95,99,117,121,131,134,140,146,150,154,169,178,194,200,204,212,216,231,236,240,257,269,273],"joint":[34],"motions.":[35,91,206],"By":[36],"reproducing":[37,230],"input":[39,205,232],"joint,":[44],"PHARAD":[45,155,258],"conducts":[46],"passive":[47],"exercises":[48],"for":[49,139,193],"rehabilitation.":[51],"To":[52],"complex":[56,264],"motions,":[58,266],"we":[59,75],"adopted":[60],"parallel":[62],"mechanism":[64],"using":[65],"pneumatic":[67],"cylinders":[68],"with":[69,156,203],"displacement":[70],"sensors.":[71],"In":[72],"this":[73],"research,":[74],"define":[76],"plate":[82,152],"attached":[83],"to":[84,129,271],"sole":[87],"as":[88],"A":[92],"posture":[93],"plate,":[97],"i.e.,":[98],"three-dimensional":[100],"(3D)":[101],"position":[102,180,218,242],"(x,":[103],"y,":[104],"z)":[105],"rotation":[107,182,220,244],"angle":[108,183,221,245],"(\u03b8,":[109],"\u03c6,":[110],"\u03c8),":[111],"is":[112],"numerically":[113],"calculated":[114],"by":[115,144,153,159,198,277],"solving":[116],"forward":[118],"kinematics":[119],"PHARAD.":[122,135],"We":[123],"conducted":[124],"two":[125],"kinds":[126],"experiments":[128,138,192],"evaluate":[130],"performance":[132],"First,":[136],"verification":[137,191],"accuracy":[141],"were":[142,184,196,222,246],"implemented":[143,197],"comparing":[145,199],"measured":[147],"those":[157],"obtained":[158],"motion":[161],"capture":[162],"system.":[163],"The":[164,207],"experimental":[165,208,253],"results":[166,209,254],"showed":[167,210],"that":[168,211,256],"maximum":[170],"root":[171],"mean":[172],"square":[173],"error":[174],"(RMSE)":[175],"values":[176,214],"3D":[179,217,241],"2.6":[185],"mm":[186,224,248],"1.5\u00b0,":[188],"respectively.":[189,227,251],"Then,":[190],"reproducibility":[195],"reproduced":[201],"RMSE":[213],"5.6":[223],"6.1\u00b0,":[226],"Moreover,":[228],"after":[229],"ten":[234],"times,":[235],"standard":[237],"deviations":[238],"1.4":[247],"0.7\u00b0,":[250],"These":[252],"show":[255],"precisely":[260],"has":[268],"potential":[270],"exercise":[274],"therapy":[275],"presented":[276],"physical":[278],"therapists.":[279]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"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":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-19T23:35:23.961156","created_date":"2025-10-10T00:00:00"}