{"id":"https://openalex.org/W4392619672","doi":"https://doi.org/10.1177/02783649241236204","title":"Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist","display_name":"Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist","publication_year":2024,"publication_date":"2024-03-08","ids":{"openalex":"https://openalex.org/W4392619672","doi":"https://doi.org/10.1177/02783649241236204"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241236204","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241236204","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241236204","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","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":true,"oa_status":"hybrid","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241236204","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103100369","display_name":"Giuseppe Milazzo","orcid":"https://orcid.org/0009-0008-3338-6188"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Milazzo","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0009-0008-3338-6188","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca Enrico Piaggio & Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca Enrico Piaggio & Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Centro di Ricerca Enrico Piaggio & Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5310-2997","affiliations":[{"raw_affiliation_string":"Centro di Ricerca Enrico Piaggio & Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103100369"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.3948,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.7821778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"43","issue":"12","first_page":"1898","last_page":"1915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9939000010490417,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9939000010490417,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.989300012588501,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9890999794006348,"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/stiffness","display_name":"Stiffness","score":0.5787599682807922},{"id":"https://openalex.org/keywords/wrist","display_name":"Wrist","score":0.5627923011779785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5325583219528198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.510934054851532},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4991471767425537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45817917585372925},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41813671588897705},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3985331058502197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37568700313568115},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27356815338134766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27355867624282837},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20655953884124756},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.17201027274131775},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1502191424369812},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.09324303269386292},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08486616611480713}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5787599682807922},{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.5627923011779785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5325583219528198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.510934054851532},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4991471767425537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45817917585372925},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41813671588897705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3985331058502197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37568700313568115},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27356815338134766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27355867624282837},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20655953884124756},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.17201027274131775},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1502191424369812},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09324303269386292},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08486616611480713},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783649241236204","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241236204","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241236204","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1241516","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1241516","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1177/02783649241236204","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649241236204","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/02783649241236204","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3057374713","display_name":null,"funder_award_id":"810346","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F5497039910","display_name":"Ministero dell'Istruzione e del Merito","ror":"https://ror.org/01ehyh486"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392619672.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1979852806","https://openalex.org/W1994680409","https://openalex.org/W2009943907","https://openalex.org/W2017239762","https://openalex.org/W2034912460","https://openalex.org/W2044057544","https://openalex.org/W2058174034","https://openalex.org/W2076598966","https://openalex.org/W2080709918","https://openalex.org/W2108154420","https://openalex.org/W2118637817","https://openalex.org/W2145023193","https://openalex.org/W2156510948","https://openalex.org/W2588211988","https://openalex.org/W2615167078","https://openalex.org/W2743328012","https://openalex.org/W2770423878","https://openalex.org/W2886800258","https://openalex.org/W2896992430","https://openalex.org/W2897983282","https://openalex.org/W2911528113","https://openalex.org/W2940708985","https://openalex.org/W3004271712","https://openalex.org/W3023492522","https://openalex.org/W3032973553","https://openalex.org/W3071704888","https://openalex.org/W3107358701","https://openalex.org/W3133009843","https://openalex.org/W3137732569","https://openalex.org/W3169984014","https://openalex.org/W3211788915","https://openalex.org/W4205163220","https://openalex.org/W4214885337","https://openalex.org/W4225712227","https://openalex.org/W4233227660","https://openalex.org/W4242073862","https://openalex.org/W4285988181","https://openalex.org/W4289656373","https://openalex.org/W4289918916","https://openalex.org/W4310969225"],"related_works":["https://openalex.org/W2406926056","https://openalex.org/W2048493693","https://openalex.org/W2559360246","https://openalex.org/W1996668300","https://openalex.org/W110334421","https://openalex.org/W2170071336","https://openalex.org/W2013246180","https://openalex.org/W1974560287","https://openalex.org/W4226140812","https://openalex.org/W2735375504"],"abstract_inverted_index":{"This":[0,34,75,187],"study":[1],"introduces":[2],"an":[3,190,199],"innovative":[4],"design":[5,76],"for":[6,67,147,150,155],"a":[7,55,129,140],"Variable":[8],"Stiffness":[9],"3":[10],"Degrees":[11],"of":[12,17,30,104,143,196,203],"Freedom":[13],"actuated":[14],"wrist":[15,170],"capable":[16],"actively":[18],"and":[19,42,57,72,87,95,115,153,182],"continuously":[20],"adjusting":[21],"its":[22,163],"overall":[23],"stiffness":[24],"by":[25],"modulating":[26],"the":[27,100,105,111,121,137,159,169,183],"active":[28],"length":[29],"non-linear":[31],"elastic":[32],"elements.":[33],"modulation":[35],"is":[36,43,126],"akin":[37],"to":[38,78,161],"human":[39],"muscular":[40],"cocontraction":[41],"achieved":[44],"using":[45,128,179],"only":[46],"four":[47],"motors.":[48],"The":[49,97,133],"mechanical":[50,114],"configuration":[51],"employed":[52],"results":[53,134],"in":[54,81],"compact":[56],"lightweight":[58],"device":[59],"with":[60,92,198],"anthropomorphic":[61],"characteristics,":[62],"making":[63],"it":[64],"potentially":[65],"suitable":[66],"applications":[68],"such":[69],"as":[70,118,120],"prosthetics":[71],"humanoid":[73],"robotics.":[74],"aims":[77],"enhance":[79],"performance":[80,125],"dynamic":[82],"tasks,":[83],"improve":[84],"task":[85],"adaptability,":[86],"ensure":[88],"safety":[89],"during":[90],"interactions":[91],"both":[93],"people":[94],"objects.":[96],"paper":[98],"details":[99],"first":[101],"hardware":[102],"implementation":[103],"proposed":[106],"design,":[107],"providing":[108],"insights":[109],"into":[110],"theoretical":[112],"model,":[113],"electronic":[116],"components,":[117],"well":[119],"control":[122],"architecture.":[123],"System":[124],"assessed":[127],"motion":[130,144],"capture":[131],"system.":[132],"demonstrate":[135],"that":[136],"prototype":[138],"offers":[139],"broad":[141],"range":[142],"([55,":[145],"\u221245]\u00b0":[146],"flexion/extension,":[148],"\u00b148\u00b0":[149],"radial/ulnar":[151],"deviation,":[152],"\u00b1180\u00b0":[154],"pronation/supination)":[156],"while":[157],"having":[158],"capability":[160],"triple":[162],"stiffness.":[164],"Furthermore,":[165],"following":[166],"proper":[167],"calibration,":[168],"posture":[171],"can":[172],"be":[173],"reconstructed":[174],"through":[175],"multivariate":[176],"linear":[177],"regression":[178],"rotational":[180],"encoders":[181],"forward":[184],"kinematic":[185],"model.":[186],"reconstruction":[188],"achieves":[189],"average":[191],"Root":[192],"Mean":[193],"Square":[194],"Error":[195],"6.6\u00b0,":[197],"R":[200],"2":[201],"value":[202],"0.93.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}