{"id":"https://openalex.org/W3192306579","doi":"https://doi.org/10.1109/ur52253.2021.9494688","title":"Design of Suspended Cable-Driven Parallel Robot with Series Elastic Actuator for 3-DOF Body Weight Support System","display_name":"Design of Suspended Cable-Driven Parallel Robot with Series Elastic Actuator for 3-DOF Body Weight Support System","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3192306579","doi":"https://doi.org/10.1109/ur52253.2021.9494688","mag":"3192306579"},"language":"en","primary_location":{"id":"doi:10.1109/ur52253.2021.9494688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5043189618","display_name":"Geonhyup Lee","orcid":"https://orcid.org/0000-0002-5146-6738"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Geonhyup Lee","raw_affiliation_strings":["Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005"],"affiliations":[{"raw_affiliation_string":"Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043134790","display_name":"Hosu Lee","orcid":"https://orcid.org/0000-0002-8702-5993"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hosu Lee","raw_affiliation_strings":["Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005"],"affiliations":[{"raw_affiliation_string":"Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049042203","display_name":"Amre Eizad","orcid":"https://orcid.org/0000-0002-5916-7185"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Amre Eizad","raw_affiliation_strings":["Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005"],"affiliations":[{"raw_affiliation_string":"Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090835017","display_name":"Sanghun Pyo","orcid":"https://orcid.org/0000-0002-5645-1033"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghun Pyo","raw_affiliation_strings":["Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005"],"affiliations":[{"raw_affiliation_string":"Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065082721","display_name":"Jungwon Yoon","orcid":"https://orcid.org/0000-0003-1350-5334"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwon Yoon","raw_affiliation_strings":["Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005"],"affiliations":[{"raw_affiliation_string":"Gwangju Institute of Science and Technology,School of Integrated Technology,Gwangju,South Korea,61005","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043189618"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":0.1373,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.440458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"134","last_page":"138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9961000084877014,"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":0.9958999752998352,"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/actuator","display_name":"Actuator","score":0.8582802414894104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6813111305236816},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.66510409116745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5612286329269409},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5180649757385254},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3266528844833374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1412532925605774},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12082374095916748},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06210628151893616}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8582802414894104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6813111305236816},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.66510409116745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5612286329269409},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5180649757385254},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3266528844833374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1412532925605774},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12082374095916748},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06210628151893616},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur52253.2021.9494688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur52253.2021.9494688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1968982013","https://openalex.org/W1970078647","https://openalex.org/W2029584054","https://openalex.org/W2156646965","https://openalex.org/W2587790860","https://openalex.org/W2792031687","https://openalex.org/W2983661388","https://openalex.org/W3005941195"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2038930466","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2086574474","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289"],"abstract_inverted_index":{"Body":[0],"Weight":[1],"Support":[2],"(BWS)":[3],"systems":[4,29],"are":[5,30],"used":[6],"to":[7,61,161],"maintain":[8],"balance":[9],"and":[10,43],"compensate":[11],"for":[12,110],"the":[13,64,91,107,112,131,139,148,162,168],"weight":[14],"of":[15,32,79,93,130,138],"patients":[16],"during":[17,35],"gait":[18],"rehabilitation":[19],"following":[20],"neurological":[21],"injuries":[22],"such":[23],"as":[24],"stroke.":[25],"Existing":[26],"commercialized":[27],"BWS":[28,76],"capable":[31,78],"providing":[33],"support":[34],"overground":[36],"walking":[37],"in":[38,66,83,86],"a":[39,73,87,94,100,142,171],"relatively":[40],"large":[41,88],"workspace":[42,89],"can":[44],"actively":[45],"control":[46,62,82,173],"multi-directional":[47],"forces":[48],"by":[49],"using":[50,120],"several":[51],"actuators.":[52],"However,":[53],"with":[54,99,136,151],"these":[55],"systems,":[56],"it":[57],"is":[58,115],"not":[59],"possible":[60],"independently":[63],"force":[65,81,108,157],"each":[67,84],"direction.":[68],"Therefore,":[69],"this":[70],"study":[71],"proposed":[72],"novel":[74],"active":[75],"system":[77,133,140,164,169],"independent":[80],"direction":[85],"through":[90,117],"integration":[92],"Cable-Driven":[95],"Parallel":[96],"Robot":[97],"(CDPR)":[98],"Series":[101],"Elastic":[102],"Actuator":[103],"(SEA).":[104],"In":[105],"addition,":[106],"controller":[109],"generating":[111],"desired":[113,126],"wrench":[114,127,156],"verified":[116],"dynamic":[118],"analysis":[119],"ADAMS&#x00AE;":[121],"&#x0026;":[122],"Simulink":[123],"Co-Simulation.":[124],"The":[125,144],"generation":[128,158],"performance":[129,159],"CDPR+SEA":[132],"was":[134],"compared":[135,160],"that":[137,147],"without":[141,165],"SEA.":[143,166],"results":[145],"show":[146],"CDPR":[149,163],"combined":[150],"SEA":[152],"has":[153,170],"shown":[154],"successful":[155],"Thus,":[167],"high":[172],"capability.":[174]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
