{"id":"https://openalex.org/W2169664468","doi":"https://doi.org/10.1109/tro.2009.2019147","title":"Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations","display_name":"Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations","publication_year":2009,"publication_date":"2009-04-18","ids":{"openalex":"https://openalex.org/W2169664468","doi":"https://doi.org/10.1109/tro.2009.2019147","mag":"2169664468"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2019147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2019147","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-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/A5112298791","display_name":"Arno H. A. Stienen","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["NL","US"],"is_corresponding":true,"raw_author_name":"A.H.A. Stienen","raw_affiliation_strings":["Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands","Physical Therapy and Human Movement Sciences, Northwestern University, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Physical Therapy and Human Movement Sciences, Northwestern University, Chicago, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075320475","display_name":"Edsko E.G. Hekman","orcid":"https://orcid.org/0000-0002-7198-6810"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"E.E.G. Hekman","raw_affiliation_strings":["Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113760107","display_name":"F.C.T. van der Helm","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"F.C.T. van der Helm","raw_affiliation_strings":["Laboratory of Biomechanical Engineering, Delft University of Technnology, Delft, Netherlands","Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, Delft University of Technnology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083232835","display_name":"Herman van der Kooij","orcid":"https://orcid.org/0000-0002-7926-3262"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"H. van der Kooij","raw_affiliation_strings":["Laboratory of Biomechanical Engineering, Delft University of Technnology, Delft, Netherlands","Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"affiliations":[{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, Delft University of Technnology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Laboratory of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112298791"],"corresponding_institution_ids":["https://openalex.org/I111979921","https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":7.6233,"has_fulltext":false,"cited_by_count":248,"citation_normalized_percentile":{"value":0.97432258,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"25","issue":"3","first_page":"628","last_page":"633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9905999898910522,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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":0.9405553340911865},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.8476219177246094},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5895308256149292},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5517598390579224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5429342985153198},{"id":"https://openalex.org/keywords/universal-joint","display_name":"Universal joint","score":0.5223575830459595},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5076509714126587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.426588237285614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42195233702659607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3480108976364136},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3341643214225769},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.27679550647735596},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16660615801811218},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15565329790115356},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13136693835258484},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12217402458190918}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9405553340911865},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8476219177246094},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5895308256149292},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5517598390579224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5429342985153198},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.5223575830459595},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5076509714126587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.426588237285614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42195233702659607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3480108976364136},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3341643214225769},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27679550647735596},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16660615801811218},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15565329790115356},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13136693835258484},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12217402458190918},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2009.2019147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2019147","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:publications/7740feee-2d49-44ea-abe5-4a2844e48763","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/7740feee-2d49-44ea-abe5-4a2844e48763","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Stienen, A, Hekman, E E G, van der Helm, F C T & van der Kooij, H 2009, 'Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations.', IEEE transactions on robotics, vol. 25, no. 3, pp. 628-633. https://doi.org/10.1109/TRO.2009.2019147","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W69466718","https://openalex.org/W1544436487","https://openalex.org/W1555444101","https://openalex.org/W1580758427","https://openalex.org/W1878071571","https://openalex.org/W1969434593","https://openalex.org/W1971817567","https://openalex.org/W1980982119","https://openalex.org/W1982221577","https://openalex.org/W2039053770","https://openalex.org/W2044218253","https://openalex.org/W2069269081","https://openalex.org/W2084556429","https://openalex.org/W2096037729","https://openalex.org/W2101130337","https://openalex.org/W2108341823","https://openalex.org/W2110194500","https://openalex.org/W2110200899","https://openalex.org/W2111798840","https://openalex.org/W2112433864","https://openalex.org/W2114139289","https://openalex.org/W2116633842","https://openalex.org/W2117361957","https://openalex.org/W2117436530","https://openalex.org/W2126663592","https://openalex.org/W2134525555","https://openalex.org/W2140036652","https://openalex.org/W2144061098","https://openalex.org/W2158244378","https://openalex.org/W2162541225","https://openalex.org/W2171839968","https://openalex.org/W3043217108","https://openalex.org/W6633152776","https://openalex.org/W6634464596","https://openalex.org/W7065243650"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2401700601","https://openalex.org/W2557545276","https://openalex.org/W2616572071","https://openalex.org/W2365447215","https://openalex.org/W2150123533","https://openalex.org/W2067240043"],"abstract_inverted_index":{"To":[0],"automatically":[1],"align":[2],"exoskeleton":[3],"axes":[4],"to":[5,11,44],"human":[6],"anatomical":[7],"axes,":[8],"we":[9],"propose":[10],"decouple":[12],"the":[13,17,30,45],"joint":[14,18],"rotations":[15],"from":[16],"translations.":[19],"Decoupling":[20],"can":[21],"reduce":[22],"setup":[23],"times":[24],"and":[25,36,47],"painful":[26],"misalignment":[27],"forces,":[28],"at":[29],"cost":[31],"of":[32],"increased":[33],"mechanical":[34],"complexity":[35],"movement":[37],"inertia.":[38],"The":[39],"decoupling":[40],"approach":[41],"was":[42],"applied":[43],"Dampace":[46],"Limpact":[48],"exoskeletons.":[49]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":18},{"year":2014,"cited_by_count":17},{"year":2013,"cited_by_count":17},{"year":2012,"cited_by_count":10}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}