{"id":"https://openalex.org/W7131829051","doi":"https://doi.org/10.1109/sii64115.2026.11404677","title":"Configurable Pneumatic Soft Actuators for Multi-Directional Wrist Rehabilitation","display_name":"Configurable Pneumatic Soft Actuators for Multi-Directional Wrist Rehabilitation","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131829051","doi":"https://doi.org/10.1109/sii64115.2026.11404677"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","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/A5049062570","display_name":"Ibrahim A. Seleem","orcid":"https://orcid.org/0000-0002-3733-4982"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ibrahim A. Seleem","raw_affiliation_strings":["Tokyo University of Science,Faculty of Science and Technology,Department of Mechanical and Aerospace Engineering"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science,Faculty of Science and Technology,Department of Mechanical and Aerospace Engineering","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121270853","display_name":"Hiroshi TAKEMURA","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Takemura","raw_affiliation_strings":["Tokyo University of Science,Faculty of Science and Technology,Department of Mechanical and Aerospace Engineering"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Science,Faculty of Science and Technology,Department of Mechanical and Aerospace Engineering","institution_ids":["https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049062570"],"corresponding_institution_ids":["https://openalex.org/I161296585"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.92836244,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"345","last_page":"351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.5214999914169312,"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":0.5214999914169312,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.2694000005722046,"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/T11608","display_name":"Dielectric materials and actuators","score":0.08720000088214874,"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":0.7214000225067139},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.6697999835014343},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6460999846458435},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.5357000231742859},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.49129998683929443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46219998598098755},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.4000000059604645},{"id":"https://openalex.org/keywords/ulnar-deviation","display_name":"Ulnar deviation","score":0.36489999294281006}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7214000225067139},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.6697999835014343},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6460999846458435},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.5357000231742859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5105000138282776},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.49129998683929443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46219998598098755},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3953999876976013},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39419999718666077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3675000071525574},{"id":"https://openalex.org/C2780021535","wikidata":"https://www.wikidata.org/wiki/Q2475429","display_name":"Ulnar deviation","level":3,"score":0.36489999294281006},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C2777087348","wikidata":"https://www.wikidata.org/wiki/Q184848","display_name":"Index finger","level":2,"score":0.3418999910354614},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C2985005502","wikidata":"https://www.wikidata.org/wiki/Q6806593","display_name":"Medical robotics","level":3,"score":0.3084000051021576},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.3082999885082245},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.26600000262260437},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1925606516","https://openalex.org/W2946846645","https://openalex.org/W2947021995","https://openalex.org/W3122200986","https://openalex.org/W3158559722","https://openalex.org/W3205336907","https://openalex.org/W3210183521","https://openalex.org/W4313910186","https://openalex.org/W4319998094","https://openalex.org/W4353056572","https://openalex.org/W4376605620","https://openalex.org/W4383503963","https://openalex.org/W4385198114","https://openalex.org/W4391300382","https://openalex.org/W4396690472","https://openalex.org/W4396875077","https://openalex.org/W4400479387","https://openalex.org/W4400810550","https://openalex.org/W4401070492","https://openalex.org/W4401452453","https://openalex.org/W4402626694","https://openalex.org/W4411019339"],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,36,68,102,119,136,184,198,219],"their":[2,9],"inherent":[3],"compliance":[4],"and":[5,28,65,71,80,92,106,127,140],"safe":[6],"interaction":[7],"with":[8],"environment,":[10],"soft":[11,42,58,146,170,194,217],"robots":[12],"play":[13],"a":[14,154,161,176,186,204],"significant":[15],"role":[16],"in":[17,25,189],"wrist":[18,52],"rehabilitation.":[19],"However,":[20],"current":[21],"designs":[22],"lack":[23],"bending":[24,48,126,139,155,175],"multiple":[26,190,221],"directions":[27,49],"have":[29],"limited":[30],"payload":[31,141,162],"capacity.":[32],"This":[33,208],"article":[34],"aims":[35],"explore":[37],"various":[38],"configurations":[39],"of":[40,50,56,131,143,157,163,169,214],"pneumatic":[41,145,216],"fingers,":[43],"specifically":[44],"targeting":[45],"the":[46,51,63,103,114,121,138,144,167,211],"different":[47],"joint.":[53],"A":[54,108,129],"pair":[55],"parallel-connected":[57],"actuators":[59,100],"is":[60,117,133,172,182],"mounted":[61],"on":[62,113,203],"index":[64],"ring":[66],"fingers":[67,195,218],"achieve":[69,220],"extension":[70],"flexion":[72,201],"movements":[73],"by":[74,84,174],"simultaneously":[75],"pressurizing":[76],"both":[77],"actuators.":[78],"Pronation":[79],"supination":[81],"are":[82,95],"achieved":[83],"activating":[85],"two":[86,98],"diagonally":[87],"positioned":[88],"actuators,":[89],"while":[90,123,159],"radial":[91],"ulnar":[93],"motions":[94],"accomplished":[96],"through":[97],"side-connected":[99],"attached":[101],"little":[104],"finger":[105],"thumb.":[107],"nonlinear":[109],"static":[110],"analysis":[111],"based":[112],"Yeoh":[115],"model":[116],"conducted":[118],"validate":[120],"design":[122,171],"concerning":[124],"its":[125],"deflection.":[128],"series":[130],"experiments":[132],"carried":[134],"out":[135],"verify":[137],"capacity":[142],"finger.":[147],"The":[148],"results":[149],"show":[150],"that":[151],"it":[152],"achieves":[153],"angle":[156],"270\u00b0,":[158],"carrying":[160],"200":[164],"g.":[165],"Moreover,":[166],"effectiveness":[168],"validated":[173],"660":[177],"g":[178],"metal":[179],"frame,":[180],"which":[181],"designed":[183],"mimic":[185],"human":[187,206],"hand,":[188],"directions.":[191],"Finally,":[192],"four":[193],"were":[196],"employed":[197],"successfully":[199],"perform":[200],"deviation":[202],"real":[205],"hand.":[207],"paper":[209],"represents":[210],"initial":[212],"phase":[213],"utilizing":[215],"wrist-bending":[222],"movements.":[223]},"counts_by_year":[],"updated_date":"2026-03-01T06:05:34.837733","created_date":"2026-02-28T00:00:00"}
