{"id":"https://openalex.org/W4293053263","doi":"https://doi.org/10.1142/s2196888822500233","title":"Proposing a Method to Solve Inverse Kinematics and Dynamics of a Human Upper Limb Rehabilitation Robot","display_name":"Proposing a Method to Solve Inverse Kinematics and Dynamics of a Human Upper Limb Rehabilitation Robot","publication_year":2022,"publication_date":"2022-04-28","ids":{"openalex":"https://openalex.org/W4293053263","doi":"https://doi.org/10.1142/s2196888822500233"},"language":"en","primary_location":{"id":"doi:10.1142/s2196888822500233","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888822500233","pdf_url":null,"source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1142/s2196888822500233","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068932285","display_name":"Thanh-Trung Nguyen","orcid":"https://orcid.org/0000-0003-3644-209X"},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Trung Nguyen","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036338666","display_name":"Son Hoanh Truong","orcid":null},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Son Truong","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004398464","display_name":"Hai Nguyen Hoang","orcid":null},"institutions":[{"id":"https://openalex.org/I94518387","display_name":"Hanoi University of Science and Technology","ror":"https://ror.org/04nyv3z04","country_code":"VN","type":"education","lineage":["https://openalex.org/I94518387"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Hai Hoang","raw_affiliation_strings":["School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam","institution_ids":["https://openalex.org/I94518387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068932285"],"corresponding_institution_ids":["https://openalex.org/I94518387"],"apc_list":null,"apc_paid":null,"fwci":0.8229,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73508655,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"09","issue":"04","first_page":"455","last_page":"473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9998999834060669,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9718999862670898,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7625644207000732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7392292022705078},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7363671064376831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6196823120117188},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5834991335868835},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5691257119178772},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.567101240158081},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5164792537689209},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4864470660686493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4139483571052551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37609151005744934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20941108465194702},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.09972283244132996},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09607607126235962}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7625644207000732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7392292022705078},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7363671064376831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6196823120117188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5834991335868835},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5691257119178772},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.567101240158081},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5164792537689209},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4864470660686493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4139483571052551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37609151005744934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20941108465194702},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.09972283244132996},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09607607126235962},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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:10.1142/s2196888822500233","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888822500233","pdf_url":null,"source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e29d3a72f6784bc194a58709ef611fb0","is_oa":true,"landing_page_url":"https://doaj.org/article/e29d3a72f6784bc194a58709ef611fb0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Vietnam Journal of Computer Science, Vol 09, Iss 04, Pp 455-473 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1142/s2196888822500233","is_oa":true,"landing_page_url":"https://doi.org/10.1142/s2196888822500233","pdf_url":null,"source":{"id":"https://openalex.org/S2486636169","display_name":"Vietnam Journal of Computer Science","issn_l":"2196-8888","issn":["2196-8888","2196-8896"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Vietnam Journal of Computer Science","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1985557169","https://openalex.org/W1985706774","https://openalex.org/W1994799067","https://openalex.org/W2008349322","https://openalex.org/W2034959629","https://openalex.org/W2051877509","https://openalex.org/W2066859702","https://openalex.org/W2073669760","https://openalex.org/W2085412307","https://openalex.org/W2099946053","https://openalex.org/W2120398388","https://openalex.org/W2124780025","https://openalex.org/W2140123501","https://openalex.org/W2239571531","https://openalex.org/W2348980703","https://openalex.org/W2809752599","https://openalex.org/W3012487537","https://openalex.org/W3142934694","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"A":[0],"rehabilitation":[1,35,69,76],"robot":[2,28,77,97],"is":[3],"a":[4,22,55],"device":[5],"that":[6],"has":[7],"been":[8],"proving":[9],"its":[10],"positive":[11],"effectiveness":[12,133],"in":[13,30,37,84,115],"the":[14,49,61,87,116,125,130,135],"process":[15,63,127],"of":[16,51,119,134],"helping":[17],"patients":[18],"recover":[19],"quickly":[20],"after":[21,124],"stroke.":[23],"Researching,":[24],"designing,":[25],"and":[26,32,54,64,101,107,132],"manufacturing":[27],"models":[29],"general":[31],"upper":[33,67,74],"limb":[34,68,75],"robots":[36],"particular":[38],"are":[39],"very":[40],"practical.":[41],"In":[42],"this":[43,96],"study,":[44],"we":[45],"proposed":[46,100,136],"to":[47,59],"combine":[48],"use":[50],"an":[52,66,72],"algorithm":[53],"physical":[56,108],"modeling":[57,109],"method":[58],"shorten":[60],"calculation":[62],"design":[65],"robot.":[70],"First,":[71],"exoskeleton":[73],"model":[78,98,112],"(UExosVN)":[79],"was":[80,113],"briefly":[81],"described.":[82],"Next,":[83],"turn,":[85],"all":[86],"important":[88],"problems":[89],"including":[90],"inverse":[91,93],"kinematics,":[92],"dynamics":[94],"for":[95],"were":[99],"solved":[102],"by":[103],"using":[104],"optimization":[105],"algorithms":[106],"methods.":[110,137],"The":[111,122],"evaluated":[114],"critical":[117],"movement":[118],"daily":[120],"operations.":[121],"results":[123],"testing":[126],"have":[128],"proven":[129],"accuracy":[131]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}