{"id":"https://openalex.org/W2313937152","doi":"https://doi.org/10.1109/tro.2016.2520486","title":"Supernumerary Robotic Limbs for Human Body Support","display_name":"Supernumerary Robotic Limbs for Human Body Support","publication_year":2016,"publication_date":"2016-02-19","ids":{"openalex":"https://openalex.org/W2313937152","doi":"https://doi.org/10.1109/tro.2016.2520486","mag":"2313937152"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2520486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2520486","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5011191325","display_name":"Federico Parietti","orcid":"https://orcid.org/0000-0003-1693-5217"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Federico Parietti","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Asada","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":3.6345,"has_fulltext":false,"cited_by_count":119,"citation_normalized_percentile":{"value":0.92983981,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"32","issue":"2","first_page":"301","last_page":"311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9847999811172485,"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":0.9811999797821045,"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/robot","display_name":"Robot","score":0.5912263989448547},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5876297950744629},{"id":"https://openalex.org/keywords/human-body","display_name":"Human body","score":0.5618884563446045},{"id":"https://openalex.org/keywords/brace","display_name":"Brace","score":0.5477133393287659},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5395777225494385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4574337601661682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45182108879089355},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.43881550431251526},{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.4254578948020935},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.417511522769928},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.410695344209671},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4103025794029236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40899649262428284},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.378589004278183},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32498180866241455},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15867862105369568},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1134175956249237},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1100861132144928}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5912263989448547},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5876297950744629},{"id":"https://openalex.org/C193293595","wikidata":"https://www.wikidata.org/wiki/Q23852","display_name":"Human body","level":2,"score":0.5618884563446045},{"id":"https://openalex.org/C2779793219","wikidata":"https://www.wikidata.org/wiki/Q2662870","display_name":"Brace","level":2,"score":0.5477133393287659},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5395777225494385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4574337601661682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45182108879089355},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.43881550431251526},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.4254578948020935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.417511522769928},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.410695344209671},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4103025794029236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40899649262428284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.378589004278183},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32498180866241455},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15867862105369568},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1134175956249237},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1100861132144928},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2016.2520486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2520486","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1510788134","https://openalex.org/W1964889849","https://openalex.org/W2012021292","https://openalex.org/W2015244452","https://openalex.org/W2055823008","https://openalex.org/W2067251016","https://openalex.org/W2086213654","https://openalex.org/W2096347511","https://openalex.org/W2104212135","https://openalex.org/W2104814964","https://openalex.org/W2122409085","https://openalex.org/W2138300314","https://openalex.org/W2144781570","https://openalex.org/W2599973969","https://openalex.org/W4236950858"],"related_works":["https://openalex.org/W1507606587","https://openalex.org/W4377236355","https://openalex.org/W2121085532","https://openalex.org/W2150695230","https://openalex.org/W4385636034","https://openalex.org/W3012186505","https://openalex.org/W3180201773","https://openalex.org/W2140929982","https://openalex.org/W2331674254","https://openalex.org/W1597979091"],"abstract_inverted_index":{"A":[0,150],"robot":[1,152],"attached":[2],"to":[3,106],"a":[4,29,54,70,98,101],"human":[5,10,40,51,71,92],"body":[6,41,72,93,116,127],"can":[7,52,89],"support":[8,128],"the":[9,39,50,61,86,91,107,115,126,140,148,160],"when":[11,18],"performing":[12],"tasks":[13],"in":[14,162],"dangerous":[15],"environments":[16],"or":[17,103],"taking":[19],"postures":[20],"that":[21,37,49],"are":[22,119,130,165],"fatiguing":[23],"and":[24,45,58,68,88,111,139,155],"uncomfortable.":[25],"This":[26],"paper":[27],"presents":[28],"new":[30],"type":[31],"of":[32,63,159],"supernumerary":[33],"robotic":[34],"limbs":[35],"(SRL)":[36],"supports":[38],"against":[42],"floors,":[43],"walls,":[44],"surrounding":[46],"structures":[47],"so":[48],"perform":[53],"task":[55],"safely,":[56],"comfortably,":[57],"stably.":[59],"First,":[60],"use":[62],"wearable":[64],"robots":[65],"for":[66,124],"securing":[67],"supporting":[69],"is":[73,83,117,133,142,153],"discussed,":[74],"followed":[75],"by":[76,94],"an":[77],"SRL":[78,82,161],"design":[79],"concept.":[80],"The":[81],"worn":[84],"around":[85],"waist":[87],"brace":[90],"making":[95],"contact":[96],"with":[97,113],"wall,":[99],"grasping":[100],"rail,":[102],"being":[104],"anchored":[105],"floor.":[108],"Quasi-static":[109],"stability":[110],"compliance":[112],"which":[114],"supported":[118],"analyzed.":[120],"Two":[121],"control":[122],"methods":[123],"stabilizing":[125],"system":[129],"considered:":[131],"one":[132],"null-space":[134],"stabilization":[135],"using":[136],"Hessian":[137],"matrices,":[138],"other":[141],"joint":[143],"servo":[144],"stiffness,":[145],"based":[146],"on":[147],"Jacobian.":[149],"prototype":[151],"designed":[154],"tested.":[156],"Potential":[157],"applications":[158],"diverse":[163],"fields":[164],"discussed.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
