{"id":"https://openalex.org/W2169237900","doi":"https://doi.org/10.1109/robot.2008.4543580","title":"Design of a 3D gravity balanced orthosis for upper limb","display_name":"Design of a 3D gravity balanced orthosis for upper limb","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2169237900","doi":"https://doi.org/10.1109/robot.2008.4543580","mag":"2169237900"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109251940","display_name":"R. Rizk","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Rizk","raw_affiliation_strings":["LIRMM, CNRS, University Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, University Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107840238","display_name":"S. Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Krut","raw_affiliation_strings":["LIRMM, CNRS, University Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, University Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020874160","display_name":"Etienne Dombre","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"E. Dombre","raw_affiliation_strings":["LIRMM, CNRS, University Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, University Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.031,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.86827586,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2447","last_page":"2452"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9735999703407288,"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":0.9735999703407288,"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":0.9677000045776367,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9484999775886536,"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/pulley","display_name":"Pulley","score":0.9459659457206726},{"id":"https://openalex.org/keywords/counterweight","display_name":"Counterweight","score":0.7219266295433044},{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.5977880954742432},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5512194037437439},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212512612342834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49220696091651917},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.4482467770576477},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4306713044643402},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.4191800355911255},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.41088417172431946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3947116732597351},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3827635645866394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.329520046710968},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.23930945992469788},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2308410406112671},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22083517909049988},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.11164340376853943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10906368494033813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08566221594810486}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9459659457206726},{"id":"https://openalex.org/C2779585191","wikidata":"https://www.wikidata.org/wiki/Q1324102","display_name":"Counterweight","level":2,"score":0.7219266295433044},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.5977880954742432},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5512194037437439},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212512612342834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49220696091651917},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.4482467770576477},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4306713044643402},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.4191800355911255},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.41088417172431946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3947116732597351},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3827635645866394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.329520046710968},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23930945992469788},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2308410406112671},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22083517909049988},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11164340376853943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10906368494033813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08566221594810486},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00287578v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00287578","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"www.icra2008.org","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W963949992","https://openalex.org/W1519954258","https://openalex.org/W1559393815","https://openalex.org/W1977658713","https://openalex.org/W1978331297","https://openalex.org/W1987395322","https://openalex.org/W2020214477","https://openalex.org/W2022854349","https://openalex.org/W2052986619","https://openalex.org/W2066283171","https://openalex.org/W2078331919","https://openalex.org/W2110194500","https://openalex.org/W2133538364","https://openalex.org/W2160194391","https://openalex.org/W2160388078","https://openalex.org/W2301458640","https://openalex.org/W2575190619","https://openalex.org/W2844499185","https://openalex.org/W2846053836","https://openalex.org/W3116544574","https://openalex.org/W4211003818","https://openalex.org/W4231246338","https://openalex.org/W4251297891"],"related_works":["https://openalex.org/W2335638086","https://openalex.org/W4213341168","https://openalex.org/W2355940846","https://openalex.org/W4379645868","https://openalex.org/W1611106673","https://openalex.org/W2374399388","https://openalex.org/W2889054990","https://openalex.org/W2514247505","https://openalex.org/W2369806638","https://openalex.org/W2169237900"],"abstract_inverted_index":{"This":[0],"paper":[1,32],"describes":[2],"the":[3,47,87,92,102,105],"design":[4],"of":[5,30,49,84,96,104],"a":[6,39,53],"gravity":[7,68],"balanced":[8],"spatial":[9,40],"orthosis.":[10],"Previous":[11],"works":[12],"introduced":[13],"planar":[14],"mechanisms":[15],"only":[16],"and":[17,43,61,89],"neglected":[18],"friction.":[19,50],"They":[20],"relied":[21],"on":[22],"counterweight":[23],"or":[24],"auxiliary":[25],"parallelograms.":[26],"The":[27,70],"main":[28],"contributions":[29],"this":[31,97],"are:":[33],"(i)":[34],"we":[35,45],"succeed":[36],"in":[37,64,73],"designing":[38],"(3D)":[41],"mechanism":[42],"(ii)":[44],"analyzed":[46],"effects":[48],"We":[51],"designed":[52],"very":[54],"simple":[55],"system":[56,71],"made":[57],"with":[58],"two":[59,62,90],"pulleys":[60],"springs":[63],"order":[65],"to":[66],"ensure":[67],"compensation.":[69],"is":[72,99],"static":[74],"equilibrium":[75],"whatever":[76],"its":[77],"posture.":[78],"It":[79],"has":[80],"three":[81],"passive":[82],"degrees":[83],"freedom":[85],"at":[86,91,101],"shoulder":[88],"elbow.":[93],"A":[94],"prototype":[95],"orthosis":[98],"presented":[100],"end":[103],"paper.":[106]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
