{"id":"https://openalex.org/W2115198741","doi":"https://doi.org/10.1109/tro.2010.2052170","title":"Optimization of a Parallel Shoulder Mechanism to Achieve a High-Force, Low-Mass, Robotic-Arm Exoskeleton","display_name":"Optimization of a Parallel Shoulder Mechanism to Achieve a High-Force, Low-Mass, Robotic-Arm Exoskeleton","publication_year":2010,"publication_date":"2010-07-01","ids":{"openalex":"https://openalex.org/W2115198741","doi":"https://doi.org/10.1109/tro.2010.2052170","mag":"2115198741"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2052170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2052170","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/A5021876339","display_name":"Julius Klein","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Julius Klein","raw_affiliation_strings":["University of California, Irvine, Irvine, CA, USA","University of California Irvine, IRVINE, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California Irvine, IRVINE, CA, USA#TAB#","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089816708","display_name":"Steven J. Spencer","orcid":"https://orcid.org/0000-0002-1732-5261"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve Spencer","raw_affiliation_strings":["University of California, Irvine, Irvine, CA, USA","University of California Irvine, IRVINE, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California Irvine, IRVINE, CA, USA#TAB#","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043047631","display_name":"James Allington","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J Allington","raw_affiliation_strings":["University of California, Irvine, Irvine, CA, USA","University of California Irvine, IRVINE, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California Irvine, IRVINE, CA, USA#TAB#","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109980187","display_name":"J.E. Bobrow","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James E Bobrow","raw_affiliation_strings":["University of California, Irvine, Irvine, CA, USA","University of California Irvine, IRVINE, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California Irvine, IRVINE, CA, USA#TAB#","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012347119","display_name":"David J. Reinkensmeyer","orcid":"https://orcid.org/0000-0002-3196-8706"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David J Reinkensmeyer","raw_affiliation_strings":["University of California, Irvine, Irvine, CA, USA","University of California Irvine, IRVINE, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California Irvine, IRVINE, CA, USA#TAB#","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021876339"],"corresponding_institution_ids":["https://openalex.org/I204250578"],"apc_list":null,"apc_paid":null,"fwci":2.8138,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.90274765,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"26","issue":"4","first_page":"710","last_page":"715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9807999730110168,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.96670001745224,"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/exoskeleton","display_name":"Exoskeleton","score":0.9032216668128967},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7558292150497437},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5787392854690552},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5700246691703796},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.5687402486801147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212510228157043},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4906586706638336},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4866698384284973},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.4255369305610657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37131738662719727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25480639934539795},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09217214584350586}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9032216668128967},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7558292150497437},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5787392854690552},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5700246691703796},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.5687402486801147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212510228157043},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4906586706638336},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4866698384284973},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.4255369305610657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37131738662719727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25480639934539795},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09217214584350586},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/tro.2010.2052170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2052170","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:dsp.tecnalia.com:11556/7126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TRO.2010.2052170","pdf_url":null,"source":{"id":"https://openalex.org/S4306402037","display_name":"TECNALIA Publications (Fundaci\u00f3n TECNALIA Research & Innovation)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210113430","host_organization_name":"Tecnalia","host_organization_lineage":["https://openalex.org/I4210113430"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W167320156","https://openalex.org/W305219788","https://openalex.org/W1564897360","https://openalex.org/W1584153482","https://openalex.org/W1607738319","https://openalex.org/W1948655794","https://openalex.org/W1968154707","https://openalex.org/W1969724488","https://openalex.org/W2000094867","https://openalex.org/W2056104165","https://openalex.org/W2071339578","https://openalex.org/W2075194837","https://openalex.org/W2077658674","https://openalex.org/W2086306531","https://openalex.org/W2088806978","https://openalex.org/W2096037729","https://openalex.org/W2106747484","https://openalex.org/W2112867487","https://openalex.org/W2115435632","https://openalex.org/W2126663592","https://openalex.org/W2128428510","https://openalex.org/W2132180187","https://openalex.org/W2136938510","https://openalex.org/W2137952706","https://openalex.org/W2144061098","https://openalex.org/W2144627082","https://openalex.org/W2146504676","https://openalex.org/W2153081145","https://openalex.org/W2502655619","https://openalex.org/W3180482864","https://openalex.org/W4285719527","https://openalex.org/W6610798190","https://openalex.org/W6636278573"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W3034881631","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134"],"abstract_inverted_index":{"This":[0,44],"paper":[1,45],"describes":[2,46],"a":[3,8,28],"robotic-arm":[4],"exoskeleton":[5],"that":[6],"uses":[7],"parallel":[9],"mechanism":[10,22],"inspired":[11],"by":[12,54],"the":[13,32,38,47,50,55,58],"human":[14,39],"forearm":[15],"to":[16],"allow":[17],"naturalistic":[18],"shoulder":[19],"movements.":[20],"The":[21],"can":[23],"produce":[24],"large":[25],"forces":[26],"through":[27],"substantial":[29],"portion":[30],"of":[31,34,37,49,57],"range":[33],"motion":[35],"(RoM)":[36],"arm":[40],"while":[41],"remaining":[42],"lightweight.":[43],"optimization":[48],"exoskeleton's":[51],"torque":[52],"capabilities":[53],"modification":[56],"key":[59],"geometric":[60],"design":[61],"parameters.":[62]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}