{"id":"https://openalex.org/W2495535193","doi":"https://doi.org/10.1109/biorob.2016.7523731","title":"Soft assistive robot for personal care of elderly people","display_name":"Soft assistive robot for personal care of elderly people","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2495535193","doi":"https://doi.org/10.1109/biorob.2016.7523731","mag":"2495535193"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11382/509127","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038230917","display_name":"Mariangela Manti","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"M. Manti","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003064911","display_name":"Andrea Pratesi","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Pratesi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033570527","display_name":"Egidio Falotico","orcid":"https://orcid.org/0000-0001-8060-8080"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"E. Falotico","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025028755","display_name":"Matteo Cianchetti","orcid":"https://orcid.org/0000-0002-9016-8039"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Cianchetti","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Laschi","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038230917"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":4.4445,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.94796526,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"833","last_page":"838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9983000159263611,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9876000285148621,"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/modular-design","display_name":"Modular design","score":0.7722194790840149},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6585562229156494},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.604517936706543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5547863841056824},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5525849461555481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5333476066589355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4963553547859192},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4713917374610901},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43970340490341187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43570876121520996},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.41268548369407654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39298364520072937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37460702657699585}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7722194790840149},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6585562229156494},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.604517936706543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547863841056824},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5525849461555481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5333476066589355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4963553547859192},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4713917374610901},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43970340490341187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43570876121520996},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.41268548369407654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39298364520072937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37460702657699585},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/biorob.2016.7523731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/509127","is_oa":true,"landing_page_url":"http://hdl.handle.net/11382/509127","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.iris.sssup.it:11382/509127","is_oa":true,"landing_page_url":"http://hdl.handle.net/11382/509127","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1967974729","https://openalex.org/W1975804500","https://openalex.org/W1980905653","https://openalex.org/W2002307032","https://openalex.org/W2036037349","https://openalex.org/W2042722096","https://openalex.org/W2048325583","https://openalex.org/W2049460350","https://openalex.org/W2078451339","https://openalex.org/W2086137009","https://openalex.org/W2094832095","https://openalex.org/W2116756673","https://openalex.org/W2124540383","https://openalex.org/W2129918473","https://openalex.org/W2146587048","https://openalex.org/W2161409436","https://openalex.org/W2284390012","https://openalex.org/W2400082923","https://openalex.org/W2511106560","https://openalex.org/W6670178784","https://openalex.org/W6713103097"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W4211124276","https://openalex.org/W4296449477"],"abstract_inverted_index":{"The":[0,70],"authors":[1],"focus":[2],"on":[3,79,84],"the":[4,42,49,52,55,120,123,133,137],"possibility":[5],"to":[6,73,99,144],"adapt":[7],"technologies":[8],"and":[9,58,101,105,127],"basic":[10],"concepts":[11],"of":[12,20,51,54,65,67,115,122,139],"Soft":[13],"Robotics":[14],"for":[15,24,136,151],"building":[16],"a":[17,37,62,75,140,148],"new":[18],"generation":[19],"soft":[21],"modular":[22,56,142],"manipulator":[23,57,76,143],"assistive":[25],"robotics":[26],"that":[27],"can":[28],"safely":[29],"come":[30],"into":[31],"direct":[32],"contact":[33],"with":[34,48,90],"humans":[35],"in":[36],"challenging":[38],"scenario":[39],"which":[40,77],"is":[41,72],"bathing":[43,152],"activity.":[44],"This":[45],"paper":[46],"starts":[47],"presentation":[50],"concept":[53],"then":[59],"moves":[60],"toward":[61],"detailed":[63],"description":[64],"one":[66],"its":[68,128],"modules.":[69],"idea":[71],"develop":[74],"counts":[78],"an":[80],"actuation":[81],"system":[82],"based":[83],"McKibben-based":[85],"flexible":[86],"fluidic":[87],"actuators":[88],"combined":[89],"motor":[91],"driven":[92],"cables,":[93],"by":[94,111],"addressing":[95],"technological":[96],"issues":[97],"related":[98],"effectiveness":[100],"reliability.":[102],"Shortening,":[103],"elongation":[104],"bending":[106],"capabilities":[107],"have":[108],"been":[109],"assessed":[110],"testing":[112],"different":[113],"patterns":[114],"activations.":[116],"These":[117,130],"measures":[118],"allowed":[119],"estimation":[121],"single":[124],"module":[125],"performances":[126],"workspace.":[129],"outcomes":[131],"represent":[132],"starting":[134],"point":[135],"development":[138],"novel":[141],"be":[145],"used":[146],"as":[147],"shower":[149],"arm":[150],"activities.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}