{"id":"https://openalex.org/W3211534073","doi":"https://doi.org/10.3390/robotics10040123","title":"Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton","display_name":"Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton","publication_year":2021,"publication_date":"2021-11-12","ids":{"openalex":"https://openalex.org/W3211534073","doi":"https://doi.org/10.3390/robotics10040123","mag":"3211534073"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10040123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040123","pdf_url":"https://www.mdpi.com/2218-6581/10/4/123/pdf?version=1637128096","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/4/123/pdf?version=1637128096","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022823008","display_name":"Narek Zakaryan","orcid":"https://orcid.org/0000-0002-6074-1893"},"institutions":[{"id":"https://openalex.org/I191043459","display_name":"National Polytechnic University of Armenia","ror":"https://ror.org/007b9cn27","country_code":"AM","type":"education","lineage":["https://openalex.org/I191043459"]}],"countries":["AM"],"is_corresponding":true,"raw_author_name":"Narek Zakaryan","raw_affiliation_strings":["Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia","institution_ids":["https://openalex.org/I191043459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041243971","display_name":"Mikayel Harutyunyan","orcid":"https://orcid.org/0000-0003-0932-8419"},"institutions":[{"id":"https://openalex.org/I191043459","display_name":"National Polytechnic University of Armenia","ror":"https://ror.org/007b9cn27","country_code":"AM","type":"education","lineage":["https://openalex.org/I191043459"]}],"countries":["AM"],"is_corresponding":false,"raw_author_name":"Mikayel Harutyunyan","raw_affiliation_strings":["Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia","institution_ids":["https://openalex.org/I191043459"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078526332","display_name":"Yuri Sargsyan","orcid":"https://orcid.org/0000-0002-4740-995X"},"institutions":[{"id":"https://openalex.org/I191043459","display_name":"National Polytechnic University of Armenia","ror":"https://ror.org/007b9cn27","country_code":"AM","type":"education","lineage":["https://openalex.org/I191043459"]}],"countries":["AM"],"is_corresponding":false,"raw_author_name":"Yuri Sargsyan","raw_affiliation_strings":["Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia"],"raw_orcid":"https://orcid.org/0000-0002-4740-995X","affiliations":[{"raw_affiliation_string":"Department of Mechanics and Machine Science, National Polytechnic University of Armenia, Yerevan 0009, Armenia","institution_ids":["https://openalex.org/I191043459"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022823008"],"corresponding_institution_ids":["https://openalex.org/I191043459"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.7646,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.68250813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"123","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9966999888420105,"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":0.9966999888420105,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9919999837875366,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9559099674224854},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5922445058822632},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.571040689945221},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5279853940010071},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4941108524799347},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4927120506763458},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.483605295419693},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4761222004890442},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.460978627204895},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44550621509552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42422935366630554},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4109910726547241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2256658375263214}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9559099674224854},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5922445058822632},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.571040689945221},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5279853940010071},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4941108524799347},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4927120506763458},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.483605295419693},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4761222004890442},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.460978627204895},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44550621509552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42422935366630554},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4109910726547241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2256658375263214},{"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/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics10040123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040123","pdf_url":"https://www.mdpi.com/2218-6581/10/4/123/pdf?version=1637128096","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a80839ed6f7746d583d7b809900126bf","is_oa":true,"landing_page_url":"https://doaj.org/article/a80839ed6f7746d583d7b809900126bf","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 4, p 123 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/4/123/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10040123","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10040123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040123","pdf_url":"https://www.mdpi.com/2218-6581/10/4/123/pdf?version=1637128096","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8600000143051147,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3211534073.pdf","grobid_xml":"https://content.openalex.org/works/W3211534073.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W190227360","https://openalex.org/W1549114171","https://openalex.org/W1595159159","https://openalex.org/W2031223865","https://openalex.org/W2046460548","https://openalex.org/W2054326469","https://openalex.org/W2060874116","https://openalex.org/W2086061329","https://openalex.org/W2116123136","https://openalex.org/W2148996371","https://openalex.org/W2156703410","https://openalex.org/W2157384654","https://openalex.org/W2185585657","https://openalex.org/W2492695043","https://openalex.org/W2533599559","https://openalex.org/W2578180306","https://openalex.org/W2586256972","https://openalex.org/W2593726233","https://openalex.org/W2600077184","https://openalex.org/W2604750196","https://openalex.org/W2667679842","https://openalex.org/W2744612599","https://openalex.org/W2750418299","https://openalex.org/W2787971644","https://openalex.org/W2788135693","https://openalex.org/W2791726022","https://openalex.org/W2950084114","https://openalex.org/W2960706736","https://openalex.org/W2981418575","https://openalex.org/W3001673068","https://openalex.org/W3012542762","https://openalex.org/W3083169804","https://openalex.org/W3128330045","https://openalex.org/W3174775062","https://openalex.org/W3188155617","https://openalex.org/W4233851972","https://openalex.org/W4238362921","https://openalex.org/W4249960696","https://openalex.org/W6632872799","https://openalex.org/W6658854907","https://openalex.org/W6680938620","https://openalex.org/W6733404344","https://openalex.org/W6734593441","https://openalex.org/W6748367189"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Safe":[0],"operation,":[1],"energy":[2],"efficiency,":[3],"versatility":[4],"and":[5,28,137,182],"kinematic":[6],"compatibility":[7],"are":[8,115],"the":[9,14,23,41,69,90,96,113,118,146,150,161,179],"most":[10],"important":[11,177],"aspects":[12],"in":[13,160],"design":[15,27,110,162],"of":[16,33,80,89,95,112,126,163,184],"rehabilitation":[17,164,193],"exoskeletons.":[18],"This":[19],"paper":[20],"focuses":[21],"on":[22,139],"conceptual":[24],"bio-inspired":[25],"mechanical":[26],"equilibrium":[29],"point":[30],"control":[31,187],"(EP)":[32],"a":[34,45,49,124,127,140,170],"new":[35],"human":[36],"upper":[37,42,60],"limb":[38,43,61],"exoskeleton.":[39],"Considering":[40],"as":[44,123],"multi-muscle":[46],"redundant":[47],"system,":[48],"similar":[50],"over-actuated":[51],"but":[52],"cable-driven":[53,132],"mechatronic":[54],"system":[55,148],"is":[56,101,175],"developed":[57,103],"to":[58,73,189],"imitate":[59],"motor":[62,87],"functions.":[63],"Additional":[64],"torque":[65],"adjusting":[66],"systems":[67],"at":[68],"joints":[70],"allow":[71],"users":[72],"lift":[74],"light":[75],"weights":[76],"necessary":[77],"for":[78,178],"activities":[79],"daily":[81],"living":[82],"(ADL)":[83],"without":[84],"increasing":[85],"electric":[86],"powers":[88],"device.":[91],"A":[92],"theoretical":[93],"model":[94],"\u201cideal\u201d":[97],"artificial":[98],"muscle":[99,107],"exoskeleton":[100,114,133],"also":[102],"using":[104,117],"Hill\u2019s":[105],"natural":[106],"model.":[108],"Optimal":[109],"parameters":[111],"defined":[116],"differential":[119],"evolution":[120],"(DE)":[121],"method":[122],"technique":[125],"multi-objective":[128],"optimization.":[129],"The":[130],"proposed":[131,147],"was":[134],"then":[135],"fabricated":[136],"tested":[138],"healthy":[141],"subject.":[142],"Results":[143],"showed":[144],"that":[145,155],"fulfils":[149],"desired":[151],"aim":[152],"properly,":[153],"so":[154],"it":[156],"can":[157],"be":[158],"utilized":[159],"robots.":[165],"Further":[166],"studies":[167],"may":[168],"include":[169],"spatial":[171],"mechanism":[172],"design,":[173],"which":[174],"especially":[176],"shoulder":[180],"rehabilitation,":[181],"development":[183],"reinforcement":[185],"learning":[186],"algorithms":[188],"provide":[190],"more":[191],"efficient":[192],"treatment.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}