{"id":"https://openalex.org/W4399511184","doi":"https://doi.org/10.1109/tro.2024.3411849","title":"A Cable-Driven Upper Limb Rehabilitation Robot With Muscle-Synergy-Based Myoelectric Controller","display_name":"A Cable-Driven Upper Limb Rehabilitation Robot With Muscle-Synergy-Based Myoelectric Controller","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399511184","doi":"https://doi.org/10.1109/tro.2024.3411849"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3411849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3411849","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/A5101692293","display_name":"Chenglin Xie","orcid":"https://orcid.org/0000-0003-3867-3908"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglin Xie","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-3867-3908","affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001213566","display_name":"Yueling Lyu","orcid":"https://orcid.org/0000-0002-8024-2901"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueling Lyu","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060308020","display_name":"Guoxin Li","orcid":"https://orcid.org/0000-0001-8384-0002"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoxin Li","raw_affiliation_strings":["School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","School of Mechanical Engineering, Translational Research Center and Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8384-0002","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center and Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066840655","display_name":"Raymond Kai\u2010Yu Tong","orcid":"https://orcid.org/0000-0003-4375-653X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Raymond Kai-Yu Tong","raw_affiliation_strings":["Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4375-653X","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026129330","display_name":"Haisheng Xia","orcid":"https://orcid.org/0000-0001-8574-6650"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haisheng Xia","raw_affiliation_strings":["School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","School of Mechanical Engineering, Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8574-6650","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rong Song","orcid":"https://orcid.org/0000-0003-3662-116X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Song","raw_affiliation_strings":["Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-3662-116X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Sensing Technology and Biomedical Instrument of Guangdong Province, School of Biomedical Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","School of Mechanical Engineering, Translational Research Center and Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3909-488X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center, Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"School of Mechanical Engineering, Translational Research Center and Shanghai Yangzhi Rehabilitation Hospital, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7441,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.93934035,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"3199","last_page":"3211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9865999817848206,"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":0.9865999817848206,"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":0.9815999865531921,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9483000040054321,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6031821966171265},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.5374159812927246},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4915662705898285},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4913269579410553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4895073175430298},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.47186487913131714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4322358965873718},{"id":"https://openalex.org/keywords/electromyography","display_name":"Electromyography","score":0.4250991642475128},{"id":"https://openalex.org/keywords/medical-robotics","display_name":"Medical robotics","score":0.41419893503189087},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3594251871109009},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2264556884765625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22573283314704895},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.14580965042114258},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.057496070861816406}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6031821966171265},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.5374159812927246},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4915662705898285},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4913269579410553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4895073175430298},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.47186487913131714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4322358965873718},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.4250991642475128},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.41419893503189087},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3594251871109009},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2264556884765625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22573283314704895},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.14580965042114258},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.057496070861816406},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3411849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3411849","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1093578524","display_name":null,"funder_award_id":"2023A1515011021","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1902027874","https://openalex.org/W1976912497","https://openalex.org/W1978023077","https://openalex.org/W1994032610","https://openalex.org/W2001537057","https://openalex.org/W2017288758","https://openalex.org/W2029428797","https://openalex.org/W2038925006","https://openalex.org/W2076024315","https://openalex.org/W2084248883","https://openalex.org/W2086604372","https://openalex.org/W2092912577","https://openalex.org/W2094697451","https://openalex.org/W2100338757","https://openalex.org/W2102855006","https://openalex.org/W2111340349","https://openalex.org/W2118766245","https://openalex.org/W2142891992","https://openalex.org/W2144359569","https://openalex.org/W2144741745","https://openalex.org/W2157409090","https://openalex.org/W2158087469","https://openalex.org/W2162438232","https://openalex.org/W2167170208","https://openalex.org/W2488349373","https://openalex.org/W2592386493","https://openalex.org/W2616811721","https://openalex.org/W2746943574","https://openalex.org/W2766242384","https://openalex.org/W2770166409","https://openalex.org/W2773829130","https://openalex.org/W2784881541","https://openalex.org/W2795105096","https://openalex.org/W2900933353","https://openalex.org/W2905340772","https://openalex.org/W2915722752","https://openalex.org/W2921112006","https://openalex.org/W2922124302","https://openalex.org/W2954664426","https://openalex.org/W2964773326","https://openalex.org/W2981948417","https://openalex.org/W2982646119","https://openalex.org/W2997047091","https://openalex.org/W3007451079","https://openalex.org/W3009071683","https://openalex.org/W3016671302","https://openalex.org/W3023628914","https://openalex.org/W3045672284","https://openalex.org/W3107214261","https://openalex.org/W3128226272","https://openalex.org/W3135427506","https://openalex.org/W3170227478","https://openalex.org/W3176563613","https://openalex.org/W3197024606","https://openalex.org/W3204210239","https://openalex.org/W3216317588","https://openalex.org/W4214825562","https://openalex.org/W4241185671","https://openalex.org/W4290724193","https://openalex.org/W4295836640"],"related_works":["https://openalex.org/W2096429409","https://openalex.org/W3094796826","https://openalex.org/W2045521318","https://openalex.org/W4247684859","https://openalex.org/W3145103137","https://openalex.org/W1912506680","https://openalex.org/W2146355982","https://openalex.org/W2327274510","https://openalex.org/W2325967894","https://openalex.org/W2501397819"],"abstract_inverted_index":{"Surface":[0],"electromyography":[1],"(sEMG)":[2],"signal":[3],"has":[4],"been":[5],"used":[6,71],"in":[7,25],"upper":[8],"limb":[9],"rehabilitation":[10],"robots":[11],"(ULRR).":[12],"However,":[13],"existing":[14],"ULRR":[15],"based":[16,57,94],"on":[17,58,95,122],"myoelectric":[18,44,148],"controllers":[19],"suffers":[20],"from":[21,54],"limited":[22],"generalization":[23,40,88,161],"ability":[24,41],"estimating":[26,136],"three-dimensional":[27],"(3-D)":[28],"motion":[29],"intention.":[30],"This":[31],"article":[32],"proposes":[33],"a":[34,47],"muscle-synergy-inspired":[35],"approach":[36],"to":[37,72,85],"enhance":[38],"the":[39,43,74,87,104,114,118,130,147,156],"of":[42,46],"controller":[45,132,149,158],"cable-driven":[48],"ULRR.":[49],"Low-dimensional":[50],"commands":[51,69],"are":[52,70,83],"extracted":[53,68],"sEMG":[55],"signals":[56],"an":[59],"EMG-to-muscle":[60],"activation":[61],"model":[62],"and":[63,142],"non-negative":[64],"matrix":[65],"factorization.":[66],"The":[67,90],"estimate":[73],"3-D":[75],"human":[76],"force.":[77],"Two":[78],"different":[79],"trajectory":[80,139],"tracking":[81,140],"tasks":[82],"selected":[84],"test":[86],"ability.":[89],"system":[91,105,119],"is":[92,106,120],"trained":[93],"training":[96],"sets":[97,110],"where":[98,111],"participants":[99,112],"perform":[100,113],"one":[101],"task.":[102,116],"Then":[103],"tested":[107],"using":[108],"testing":[109],"other":[115],"Finally,":[117],"verified":[121],"real-time":[123],"robotic":[124],"control":[125],"experiment.":[126],"Results":[127],"show":[128],"that":[129],"proposed":[131,157],"achieves":[133],"better":[134,138,160],"force":[135,145],"accuracy,":[137,141],"lower":[143],"interaction":[144],"than":[146],"without":[150],"considering":[151],"muscle":[152],"synergies,":[153],"which":[154],"means":[155],"yields":[159],"performance.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}