{"id":"https://openalex.org/W4365800529","doi":"https://doi.org/10.1109/tro.2023.3251947","title":"A Wearable Force-Sensitive and Body-Aware <i>Exoprosthesis</i> for a Transhumeral Prosthesis Socket","display_name":"A Wearable Force-Sensitive and Body-Aware <i>Exoprosthesis</i> for a Transhumeral Prosthesis Socket","publication_year":2023,"publication_date":"2023-04-14","ids":{"openalex":"https://openalex.org/W4365800529","doi":"https://doi.org/10.1109/tro.2023.3251947"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3251947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3251947","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/A5001083728","display_name":"Alexander Toedtheide","orcid":"https://orcid.org/0000-0002-0102-8633"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander Toedtheide","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019022835","display_name":"Edmundo Pozo Fortuni\u0107","orcid":"https://orcid.org/0000-0003-2717-8506"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Edmundo Pozo Fortuni\u0107","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064389745","display_name":"Johannes K\u00fchn","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes K\u00fchn","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027375025","display_name":"Elisabeth Jensen","orcid":"https://orcid.org/0000-0002-5998-6375"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elisabeth Rose Jensen","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001083728"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.0125,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72303177,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"39","issue":"3","first_page":"2203","last_page":"2223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9976999759674072,"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":0.9976999759674072,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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":0.9801999926567078,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8267537355422974},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7383629679679871},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.6771621704101562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5635930299758911},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.5536500215530396},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.5496573448181152},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.42515090107917786},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4162661135196686},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36884406208992004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34193500876426697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33216020464897156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2460944652557373},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.23950079083442688},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1539185345172882},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13034385442733765}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8267537355422974},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7383629679679871},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.6771621704101562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5635930299758911},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.5536500215530396},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5496573448181152},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.42515090107917786},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4162661135196686},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36884406208992004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34193500876426697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33216020464897156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2460944652557373},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.23950079083442688},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1539185345172882},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13034385442733765},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3251947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3251947","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:mediatum.ub.tum.de:node/1717408","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1717408","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":97,"referenced_works":["https://openalex.org/W93903644","https://openalex.org/W109432563","https://openalex.org/W1560270123","https://openalex.org/W1620130020","https://openalex.org/W1914893953","https://openalex.org/W1965852706","https://openalex.org/W1968808523","https://openalex.org/W1977872363","https://openalex.org/W1982221577","https://openalex.org/W2013633018","https://openalex.org/W2017185098","https://openalex.org/W2020157793","https://openalex.org/W2024075334","https://openalex.org/W2026909109","https://openalex.org/W2040026674","https://openalex.org/W2040912305","https://openalex.org/W2067188191","https://openalex.org/W2075060409","https://openalex.org/W2081546500","https://openalex.org/W2085079023","https://openalex.org/W2088042117","https://openalex.org/W2101908893","https://openalex.org/W2109383252","https://openalex.org/W2124815790","https://openalex.org/W2126663592","https://openalex.org/W2127891267","https://openalex.org/W2128428510","https://openalex.org/W2130209077","https://openalex.org/W2131666656","https://openalex.org/W2139214287","https://openalex.org/W2141596924","https://openalex.org/W2144385346","https://openalex.org/W2144627082","https://openalex.org/W2150710345","https://openalex.org/W2151775748","https://openalex.org/W2153081145","https://openalex.org/W2158981437","https://openalex.org/W2159939017","https://openalex.org/W2163355541","https://openalex.org/W2173194528","https://openalex.org/W2312703239","https://openalex.org/W2344493762","https://openalex.org/W2376290865","https://openalex.org/W2400082923","https://openalex.org/W2472677638","https://openalex.org/W2518184104","https://openalex.org/W2527637221","https://openalex.org/W2533599559","https://openalex.org/W2547441162","https://openalex.org/W2613959249","https://openalex.org/W2620801289","https://openalex.org/W2625091803","https://openalex.org/W2658102606","https://openalex.org/W2742589704","https://openalex.org/W2744612599","https://openalex.org/W2744775222","https://openalex.org/W2753555176","https://openalex.org/W2753829492","https://openalex.org/W2768906510","https://openalex.org/W2769480047","https://openalex.org/W2789267097","https://openalex.org/W2800939645","https://openalex.org/W2808013852","https://openalex.org/W2864403454","https://openalex.org/W2883650368","https://openalex.org/W2892704199","https://openalex.org/W2898213189","https://openalex.org/W2899733205","https://openalex.org/W2919681907","https://openalex.org/W2950937914","https://openalex.org/W2969320466","https://openalex.org/W2970626298","https://openalex.org/W2989683011","https://openalex.org/W2990108863","https://openalex.org/W3012116246","https://openalex.org/W3012542762","https://openalex.org/W3018911239","https://openalex.org/W3021495618","https://openalex.org/W3043849260","https://openalex.org/W3047097415","https://openalex.org/W3081361732","https://openalex.org/W3088451452","https://openalex.org/W3112729848","https://openalex.org/W3115335122","https://openalex.org/W3131670369","https://openalex.org/W3137888171","https://openalex.org/W3216545206","https://openalex.org/W4200085667","https://openalex.org/W4205881209","https://openalex.org/W4214570817","https://openalex.org/W4229770299","https://openalex.org/W4244024954","https://openalex.org/W4313598698","https://openalex.org/W4383108950","https://openalex.org/W6604566698","https://openalex.org/W6729707946","https://openalex.org/W6759911655"],"related_works":["https://openalex.org/W3034058602","https://openalex.org/W2062532932","https://openalex.org/W3194603327","https://openalex.org/W2552926250","https://openalex.org/W2164738491","https://openalex.org/W4294811606","https://openalex.org/W1970241214","https://openalex.org/W2799469036","https://openalex.org/W2970208257","https://openalex.org/W4365800529"],"abstract_inverted_index":{"Upper":[0],"limb":[1,10,21,123],"prostheses":[2],"are":[3,145],"commonly":[4],"mounted":[5],"to":[6,24,174,177],"the":[7,18,48,51,62,67,103,107,114,119,129,140,153,172],"human":[8],"residual":[9,20,52,122],"by":[11,72,133,148],"a":[12,31,73,87,91,159,167,178],"passive":[13],"socket.":[14],"By":[15],"this":[16,37,70],"design,":[17],"sensitive":[19],"is":[22],"exposed":[23],"high":[25],"reaction":[26],"wrenches,":[27],"which":[28,46],"can":[29,124],"be":[30,125],"source":[32],"of":[33,69,102],"medical":[34],"complications.":[35],"In":[36],"article,":[38],"we":[39,164],"introduce":[40],"an":[41,100,184],"active":[42],"force-sensitive":[43,74,168],"robotic":[44,169],"socket,":[45],"carries":[47],"prosthesis,":[49],"offloads":[50],"limb,":[53],"and":[54,75,99,111,116,132,186],"allows":[55],"guidance":[56],"via":[57],"small":[58],"interaction":[59],"forces":[60],"at":[61,121],"same":[63],"time.":[64],"We":[65,89],"investigate":[66],"feasibility":[68],"concept":[71,115],"wearable":[76],"shoulder":[77],"exoskeleton,":[78],"called":[79],"<italic":[80],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[81,135],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">exoprosthesis</i>":[82],"when":[83],"being":[84],"combined":[85],"with":[86],"prosthesis.":[88],"provide":[90],"first":[92],"mechatronics":[93],"prototype,":[94],"two":[95],"floating":[96],"base":[97],"controllers,":[98],"analysis":[101],"loads":[104],"acting":[105],"on":[106],"user":[108,188],"body.":[109],"Simulations":[110],"experiments":[112],"confirm":[113],"reveal":[117],"that":[118,166],"wrench":[120],"fully":[126],"compensated":[127],"for":[128,139],"static":[130],"case":[131,157],"<inline-formula":[134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[136],"notation=\"LaTeX\">$\\approx":[137],"\\text{50}\\%$</tex-math></inline-formula>":[138],"investigated":[141],"motions.":[142],"Human-in-the-loop":[143],"tests":[144],"successfully":[146],"performed":[147],"three":[149],"able-bodied":[150],"users":[151],"showing":[152],"later":[154],"real-world":[155],"use":[156],"in":[158],"complex":[160],"grasping":[161],"situation.":[162],"Overall,":[163],"believe":[165],"socket":[170],"has":[171],"potential":[173],"advance":[175],"prosthetics":[176],"new":[179],"level":[180],"as":[181],"it":[182],"provides":[183],"intuitive":[185],"seamless":[187],"control":[189],"interface.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2023-04-16T00:00:00"}