{"id":"https://openalex.org/W2030770202","doi":"https://doi.org/10.1177/0278364907084261","title":"Design, Control and Performance of <i>RiceWrist:</i> A Force Feedback Wrist Exoskeleton for Rehabilitation and Training","display_name":"Design, Control and Performance of <i>RiceWrist:</i> A Force Feedback Wrist Exoskeleton for Rehabilitation and Training","publication_year":2008,"publication_date":"2008-01-25","ids":{"openalex":"https://openalex.org/W2030770202","doi":"https://doi.org/10.1177/0278364907084261","mag":"2030770202"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907084261","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907084261","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5100769064","display_name":"Abhishek Gupta","orcid":"https://orcid.org/0000-0001-7565-7929"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Abhishek Gupta","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science Rice University, Houston, TX 77005, USA,","Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science Rice University, Houston, TX 77005, USA,","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055353705","display_name":"Marcia K. O\u2019Malley","orcid":"https://orcid.org/0000-0002-3563-1051"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Marcia K. O'Malley","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science Rice University, Houston, TX 77005, USA,","Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science Rice University, Houston, TX 77005, USA,","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (USA)","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences Sabanci University Tuzla, Istanbul 34956, Turkey,","Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences Sabanci University Tuzla, Istanbul 34956, Turkey,","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002639971","display_name":"Charles G. Burgar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116927","display_name":"Central Texas Veterans Health Care System","ror":"https://ror.org/02dcp1550","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1322918889","https://openalex.org/I2799886695","https://openalex.org/I4210116927","https://openalex.org/I4210144023"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Charles Burgar","raw_affiliation_strings":["CTVHCS, Temple, TX 76504, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CTVHCS, Temple, TX 76504, USA,","institution_ids":["https://openalex.org/I4210116927"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002639971","https://openalex.org/A5017793258","https://openalex.org/A5055353705","https://openalex.org/A5100769064"],"corresponding_institution_ids":["https://openalex.org/I134235054","https://openalex.org/I4210116927","https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":13.2083,"has_fulltext":false,"cited_by_count":257,"citation_normalized_percentile":{"value":0.99335695,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"27","issue":"2","first_page":"233","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.995199978351593,"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":0.995199978351593,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9810000061988831,"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":0.9776999950408936,"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/exoskeleton","display_name":"Exoskeleton","score":0.8941037654876709},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6301229596138},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6008575558662415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5710089206695557},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5410410761833191},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.5206151008605957},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4718130826950073},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4711790382862091},{"id":"https://openalex.org/keywords/ulnar-deviation","display_name":"Ulnar deviation","score":0.4706011712551117},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.46725910902023315},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45046350359916687},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.4450831413269043},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4227655231952667},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3934464752674103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3893701136112213},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3277130722999573},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.25517216324806213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23382660746574402},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15781483054161072},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10569489002227783}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8941037654876709},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6301229596138},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6008575558662415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5710089206695557},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5410410761833191},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.5206151008605957},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4718130826950073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4711790382862091},{"id":"https://openalex.org/C2780021535","wikidata":"https://www.wikidata.org/wiki/Q2475429","display_name":"Ulnar deviation","level":3,"score":0.4706011712551117},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.46725910902023315},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45046350359916687},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.4450831413269043},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4227655231952667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3934464752674103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3893701136112213},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3277130722999573},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.25517216324806213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23382660746574402},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15781483054161072},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10569489002227783},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364907084261","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907084261","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1490889509","https://openalex.org/W1509080151","https://openalex.org/W1576320723","https://openalex.org/W1578309479","https://openalex.org/W1720309519","https://openalex.org/W1748183546","https://openalex.org/W1782625663","https://openalex.org/W1890749502","https://openalex.org/W1944323589","https://openalex.org/W1968222483","https://openalex.org/W1985009237","https://openalex.org/W1989411335","https://openalex.org/W1994446426","https://openalex.org/W1995517059","https://openalex.org/W2049410986","https://openalex.org/W2097548768","https://openalex.org/W2098089040","https://openalex.org/W2101700461","https://openalex.org/W2106383691","https://openalex.org/W2127157297","https://openalex.org/W2129264762","https://openalex.org/W2131855555","https://openalex.org/W2134337565","https://openalex.org/W2135571808","https://openalex.org/W2137952706","https://openalex.org/W2150321075","https://openalex.org/W2150334199","https://openalex.org/W2152870685","https://openalex.org/W2154488054","https://openalex.org/W2157989317","https://openalex.org/W2165199646","https://openalex.org/W2166908596","https://openalex.org/W2413292996","https://openalex.org/W2462393612","https://openalex.org/W2469958997","https://openalex.org/W2968483695","https://openalex.org/W3116583409","https://openalex.org/W4231599838","https://openalex.org/W4231615447","https://openalex.org/W4233336310","https://openalex.org/W4255909237"],"related_works":["https://openalex.org/W4289656795","https://openalex.org/W3177732272","https://openalex.org/W2965222915","https://openalex.org/W2058950584","https://openalex.org/W2608936230","https://openalex.org/W2075738295","https://openalex.org/W2492104082","https://openalex.org/W2903771394","https://openalex.org/W2105097876","https://openalex.org/W2744382252"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,31,56,99,132,140,192,196,220,235],"design,":[4],"control":[5,179,228],"and":[6,20,68,72,74,76,90,108,126,152,176,180,199,204,234],"performance":[7,138,156],"of":[8,33,38,104,139,146,157,163,182,191,195],"a":[9,80,213],"high":[10,91,205],"fidelity":[11],"four":[12],"degree-of-freedom":[13],"wrist":[14,70],"exoskeleton":[15,63,97],"robot,":[16],"RiceWrist,":[17],"for":[18,42,131],"training":[19,32],"rehabilitation.":[21],"The":[22,62,136,154,185],"RiceWrist":[23,100,158],"is":[24,45,142,159,187],"intended":[25],"to":[26,95,112,237],"provide":[27],"kinesthetic":[28,110],"feedback":[29,111],"during":[30],"motor":[34,164],"skills":[35],"or":[36],"rehabilitation":[37,57],"reaching":[39],"movements.":[40],"Motivation":[41],"such":[43],"applications":[44],"based":[46],"on":[47],"findings":[48],"that":[49,211,229],"show":[50],"robot-assisted":[51],"physical":[52],"therapy":[53],"aids":[54],"in":[55,79,144,161],"process":[58],"following":[59],"neurological":[60],"injuries.":[61],"device":[64,133,141,186,221],"accommodates":[65],"forearm":[66],"supination":[67],"pronation,":[69],"flexion":[71],"extension":[73],"radial":[75],"ulnar":[77],"deviation":[78],"compact":[81],"parallel":[82],"mechanism":[83],"design":[84],"with":[85,242],"low":[86,201],"friction,":[87,168,202],"zero":[88],"backlash":[89,151],"stiffness.":[92],"As":[93],"compared":[94],"other":[96],"devices,":[98],"allows":[101],"easy":[102],"measurement":[103],"human":[105,114,197,231],"joint":[106,167],"angles":[107],"independent":[109],"individual":[113],"joints.":[115],"In":[116,218],"this":[117],"paper,":[118],"joint-space":[119],"as":[120,122],"well":[121],"task-space":[123],"position":[124,227],"controllers":[125],"an":[127],"impedance-based":[128],"force":[129],"controller":[130],"are":[134,208],"presented.":[135],"kinematic":[137,209],"characterized":[143,160],"terms":[145,162],"its":[147],"workspace,":[148],"singularities,":[149],"manipulability,":[150,206],"backdrivability.":[153],"dynamic":[155],"torque":[165],"output,":[166],"step":[169],"responses,":[170],"behavior":[171],"under":[172,226],"closed":[173],"loop":[174],"set-point":[175],"trajectory":[177],"tracking":[178],"display":[181,216,238],"virtual":[183],"walls.":[184],"singularity-free,":[188],"encompasses":[189],"most":[190],"natural":[193],"workspace":[194],"joints":[198],"exhibits":[200],"zero-backlash":[203],"which":[207],"properties":[210],"characterize":[212],"high-quality":[214],"impedance":[215],"device.":[217],"addition,":[219],"displays":[222],"fast,":[223],"accurate":[224],"response":[225],"matches":[230],"actuation":[232],"bandwidth":[233],"capability":[236],"sufficiently":[239],"hard":[240],"contact":[241],"little":[243],"coupling":[244],"between":[245],"controlled":[246],"degrees-of-freedom.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":22},{"year":2013,"cited_by_count":17},{"year":2012,"cited_by_count":12}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2016-06-24T00:00:00"}