{"id":"https://openalex.org/W3104404272","doi":"https://doi.org/10.1109/tbme.2020.3038896","title":"Development of a Planar Haptic Robot With Minimized Impedance","display_name":"Development of a Planar Haptic Robot With Minimized Impedance","publication_year":2020,"publication_date":"2020-11-18","ids":{"openalex":"https://openalex.org/W3104404272","doi":"https://doi.org/10.1109/tbme.2020.3038896","mag":"3104404272","pmid":"https://pubmed.ncbi.nlm.nih.gov/33206599"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2020.3038896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3038896","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Transactions on Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5058930393","display_name":"Keonyoung Oh","orcid":"https://orcid.org/0000-0003-0520-9295"},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Keonyoung Oh","raw_affiliation_strings":["Feinberg School of Medicine, Northwestern University","Shirley Ryan AbilityLab"],"affiliations":[{"raw_affiliation_string":"Feinberg School of Medicine, Northwestern University","institution_ids":[]},{"raw_affiliation_string":"Shirley Ryan AbilityLab","institution_ids":["https://openalex.org/I1324242722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028505464","display_name":"William Z. Rymer","orcid":"https://orcid.org/0000-0002-1672-4236"},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Z. Rymer","raw_affiliation_strings":["Feinberg School of Medicine, Northwestern University","Shirley Ryan AbilityLab"],"affiliations":[{"raw_affiliation_string":"Feinberg School of Medicine, Northwestern University","institution_ids":[]},{"raw_affiliation_string":"Shirley Ryan AbilityLab","institution_ids":["https://openalex.org/I1324242722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043445439","display_name":"Ilaria Plenzio","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ilaria Plenzio","raw_affiliation_strings":["University of Genova"],"affiliations":[{"raw_affiliation_string":"University of Genova","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051945399","display_name":"Ferdinando A. Mussa-Ivaldi","orcid":null},"institutions":[{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ferdinando A. Mussa-Ivaldi","raw_affiliation_strings":["Feinberg School of Medicine, Northwestern University","Shirley Ryan AbilityLab"],"affiliations":[{"raw_affiliation_string":"Feinberg School of Medicine, Northwestern University","institution_ids":[]},{"raw_affiliation_string":"Shirley Ryan AbilityLab","institution_ids":["https://openalex.org/I1324242722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054673228","display_name":"Seunghan Park","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seunghan Park","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology (KIST)"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology (KIST)","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065066721","display_name":"Junho Choi","orcid":"https://orcid.org/0000-0003-4269-4787"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junho Choi","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5058930393"],"corresponding_institution_ids":["https://openalex.org/I1324242722"],"apc_list":null,"apc_paid":null,"fwci":0.834,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7698497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":98},"biblio":{"volume":"68","issue":"5","first_page":"1441","last_page":"1449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9987999796867371,"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":0.9987999796867371,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9976000189781189,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9930999875068665,"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/workspace","display_name":"Workspace","score":0.7902967929840088},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7594282627105713},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5485414862632751},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5349442362785339},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5254893898963928},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4849115014076233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4820724129676819},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4460429549217224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4382707178592682},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4354046881198883},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.43327927589416504},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4233786463737488},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4096829295158386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38677501678466797},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.27549105882644653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19463616609573364},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1315205991268158},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1289401352405548}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7902967929840088},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7594282627105713},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5485414862632751},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5349442362785339},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5254893898963928},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4849115014076233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4820724129676819},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4460429549217224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4382707178592682},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4354046881198883},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.43327927589416504},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4233786463737488},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4096829295158386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38677501678466797},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27549105882644653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19463616609573364},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1315205991268158},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1289401352405548},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2020.3038896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2020.3038896","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"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 Transactions on Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:33206599","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33206599","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5960176967","display_name":null,"funder_award_id":"90RES5013","funder_id":"https://openalex.org/F4320306085","funder_display_name":"U.S. Department of Health and Human Services"},{"id":"https://openalex.org/G8700873976","display_name":null,"funder_award_id":"1632259","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320306085","display_name":"U.S. Department of Health and Human Services","ror":"https://ror.org/033jnv181"},{"id":"https://openalex.org/F4320306687","display_name":"Falk Foundation","ror":"https://ror.org/02pyvsr17"},{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W976113936","https://openalex.org/W1544436487","https://openalex.org/W1885639605","https://openalex.org/W1971817567","https://openalex.org/W1973917052","https://openalex.org/W1973978840","https://openalex.org/W2008872088","https://openalex.org/W2015650481","https://openalex.org/W2023184274","https://openalex.org/W2039599879","https://openalex.org/W2055589776","https://openalex.org/W2063668301","https://openalex.org/W2073633842","https://openalex.org/W2075635118","https://openalex.org/W2091198925","https://openalex.org/W2102925194","https://openalex.org/W2103485762","https://openalex.org/W2108643339","https://openalex.org/W2111036506","https://openalex.org/W2111528514","https://openalex.org/W2112707027","https://openalex.org/W2125979392","https://openalex.org/W2150710345","https://openalex.org/W2164768615","https://openalex.org/W2299033933","https://openalex.org/W2484240836","https://openalex.org/W2510019139","https://openalex.org/W2588889191","https://openalex.org/W2613644109","https://openalex.org/W2771354076","https://openalex.org/W2790060396","https://openalex.org/W2795231997","https://openalex.org/W2806764069","https://openalex.org/W2891192042","https://openalex.org/W2896444077","https://openalex.org/W2902156994","https://openalex.org/W2945628890","https://openalex.org/W2947453827","https://openalex.org/W2977255459","https://openalex.org/W2989966025","https://openalex.org/W3002431443","https://openalex.org/W6675545795"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W4205284030","https://openalex.org/W2914399220","https://openalex.org/W3191493856","https://openalex.org/W2059740384","https://openalex.org/W1984186897","https://openalex.org/W2020738586"],"abstract_inverted_index":{"Several":[0],"studies":[1],"have":[2],"reported":[3],"that":[4,218],"stroke":[5,52,212],"survivors":[6,213],"displayed":[7],"improved":[8],"voluntary":[9,48,226],"planar":[10],"movements":[11,132],"when":[12,20],"forces":[13,22,242],"supporting":[14],"the":[15,29,56,82,89,92,97,100,108,112,127,134,139,143,152,156,163,167,173,177,183,188,207,230,235],"upper":[16,31,231],"limb":[17,32,232,244],"increased,":[18],"and":[19,41,165,185,203,240],"impeding":[21],"decreased.":[23],"Earlier":[24],"haptic":[25],"devices":[26],"interacting":[27],"with":[28,68,214],"human":[30],"were":[33,191],"potentially":[34],"impacted":[35],"by":[36,172,182],"undesired":[37],"residual":[38],"friction":[39,241],"force":[40],"device":[42,220],"inertia.":[43],"To":[44],"explore":[45,142],"natural,":[46],"undisturbed":[47],"motor":[49,227],"control":[50,189,228],"in":[51,117,210],"survivors,":[53],"we":[54],"describe":[55],"development":[57],"of":[58,99,107,126,133,176,187,198,206,229,237],"a":[59,77,86,105,120],"Decoupled-Operational":[60],"space":[61],"Robot":[62],"for":[63,224],"wide":[64],"Impedance":[65],"Switching":[66],"(DORIS)":[67],"minimized":[69],"mechanical":[70,174],"impedances.":[71],"This":[72],"design":[73],"is":[74,110,159],"based":[75],"on":[76,243],"novel":[78],"decoupling":[79,101],"mechanism":[80],"separating":[81],"end":[83,93,135,157],"effector":[84,94,136,158],"from":[85,162],"manipulator.":[87,178],"While":[88],"user":[90,140,168,184],"manipulates":[91],"freely":[95],"inside":[96],"workspace":[98],"mechanism,":[102],"to":[103],"which":[104,146],"manipulator":[106,125],"robot":[109,113,128,195,238],"attached,":[111],"detects":[114],"such":[115,131],"change":[116],"position":[118],"using":[119],"lightweight":[121],"linkage":[122],"system.":[123],"The":[124,193],"then":[129],"follows":[130],"swiftly.":[137],"Consequently,":[138],"can":[141,147,169,221],"extended":[144],"workspace,":[145],"be":[148,222],"as":[149,151],"large":[150],"manipulator's":[153],"workspace.":[154],"Since":[155],"mechanically":[160],"decoupled":[161],"manipulators":[164],"actuators,":[166],"remain":[170],"unaffected":[171],"impedances":[175,180],"Mechanical":[179],"perceived":[181],"bandwidth":[186],"system":[190],"estimated.":[192],"developed":[194],"was":[196],"capable":[197],"detecting":[199],"larger":[200,204],"maximum":[201],"acceleration":[202],"jerk":[205],"reaching":[208],"movement":[209],"chronic":[211],"hemiparesis.":[215],"We":[216],"propose":[217],"this":[219],"utilized":[223],"evaluating":[225],"while":[233],"minimizing":[234],"impact":[236],"inertia":[239],"behavior.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
