{"id":"https://openalex.org/W4388494431","doi":"https://doi.org/10.3390/robotics12060149","title":"Design and Characterization of a Self-Aligning End-Effector Robot for Single-Joint Arm Movement Rehabilitation","display_name":"Design and Characterization of a Self-Aligning End-Effector Robot for Single-Joint Arm Movement Rehabilitation","publication_year":2023,"publication_date":"2023-11-07","ids":{"openalex":"https://openalex.org/W4388494431","doi":"https://doi.org/10.3390/robotics12060149"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12060149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060149","pdf_url":"https://www.mdpi.com/2218-6581/12/6/149/pdf?version=1699377237","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/2218-6581/12/6/149/pdf?version=1699377237","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092576598","display_name":"Prem Kumar Mathavan Jeyabalan","orcid":"https://orcid.org/0009-0003-1759-2516"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prem Kumar Mathavan Jeyabalan","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India"],"raw_orcid":"https://orcid.org/0009-0003-1759-2516","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078939315","display_name":"Aravind Nehrujee","orcid":"https://orcid.org/0000-0001-7972-0120"},"institutions":[{"id":"https://openalex.org/I172917736","display_name":"Christian Medical College, Vellore","ror":"https://ror.org/00c7kvd80","country_code":"IN","type":"education","lineage":["https://openalex.org/I172917736"]},{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Aravind Nehrujee","raw_affiliation_strings":["Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India","Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India"],"raw_orcid":"https://orcid.org/0000-0001-7972-0120","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India","institution_ids":["https://openalex.org/I172917736"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102821387","display_name":"Samuel Elias","orcid":"https://orcid.org/0009-0000-5073-0894"},"institutions":[{"id":"https://openalex.org/I172917736","display_name":"Christian Medical College, Vellore","ror":"https://ror.org/00c7kvd80","country_code":"IN","type":"education","lineage":["https://openalex.org/I172917736"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Samuel Elias","raw_affiliation_strings":["Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India"],"raw_orcid":"https://orcid.org/0009-0000-5073-0894","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India","institution_ids":["https://openalex.org/I172917736"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103094265","display_name":"M. Magesh Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"M. Magesh Kumar","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India"],"raw_orcid":"https://orcid.org/0009-0007-8540-2197","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078041005","display_name":"S. Sujatha","orcid":"https://orcid.org/0000-0003-3456-1220"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. Sujatha","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India"],"raw_orcid":"https://orcid.org/0000-0003-3456-1220","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071387980","display_name":"Sivakumar Balasubramanian","orcid":"https://orcid.org/0000-0001-5915-1346"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]},{"id":"https://openalex.org/I172917736","display_name":"Christian Medical College, Vellore","ror":"https://ror.org/00c7kvd80","country_code":"IN","type":"education","lineage":["https://openalex.org/I172917736"]}],"countries":["AU","IN"],"is_corresponding":true,"raw_author_name":"Sivakumar Balasubramanian","raw_affiliation_strings":["Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India","School of Health and Rehabilitation Sciences, University of Queensland, Brisbane, QLD 4067, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5915-1346","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Christian Medical College Vellore, Vellore 632002, Tamil Nadu, India","institution_ids":["https://openalex.org/I172917736"]},{"raw_affiliation_string":"School of Health and Rehabilitation Sciences, University of Queensland, Brisbane, QLD 4067, Australia","institution_ids":["https://openalex.org/I165143802"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5071387980"],"corresponding_institution_ids":["https://openalex.org/I165143802","https://openalex.org/I172917736"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.3219,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5400555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"12","issue":"6","first_page":"149","last_page":"149"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9986000061035156,"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":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.788083016872406},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.76308673620224},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6821838617324829},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6136196255683899},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.607019305229187},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.5698285698890686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4594827890396118},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4592985212802887},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.4568219780921936},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4084090292453766},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3847663104534149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35783329606056213},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.35455989837646484},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33447712659835815},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20989227294921875}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.788083016872406},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.76308673620224},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6821838617324829},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6136196255683899},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.607019305229187},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.5698285698890686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4594827890396118},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4592985212802887},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.4568219780921936},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4084090292453766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3847663104534149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35783329606056213},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35455989837646484},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33447712659835815},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20989227294921875},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics12060149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060149","pdf_url":"https://www.mdpi.com/2218-6581/12/6/149/pdf?version=1699377237","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:4d43e0968ebc4623bf2cbe0532f17a0e","is_oa":true,"landing_page_url":"https://doaj.org/article/4d43e0968ebc4623bf2cbe0532f17a0e","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":"Robotics, Vol 12, Iss 6, p 149 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics12060149","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060149","pdf_url":"https://www.mdpi.com/2218-6581/12/6/149/pdf?version=1699377237","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/16","score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388494431.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W2023184274","https://openalex.org/W2077366304","https://openalex.org/W2086604372","https://openalex.org/W2106666697","https://openalex.org/W2111221874","https://openalex.org/W2113333153","https://openalex.org/W2124660752","https://openalex.org/W2128428510","https://openalex.org/W2163613809","https://openalex.org/W2164553222","https://openalex.org/W2292185100","https://openalex.org/W2312703239","https://openalex.org/W2594100767","https://openalex.org/W2613959249","https://openalex.org/W2743708515","https://openalex.org/W2767166049","https://openalex.org/W2792607448","https://openalex.org/W2894445978","https://openalex.org/W2902374589","https://openalex.org/W2954530298","https://openalex.org/W3107433031","https://openalex.org/W3195415159","https://openalex.org/W3203176505","https://openalex.org/W4205679663","https://openalex.org/W4211003818","https://openalex.org/W4221110986","https://openalex.org/W4285120533","https://openalex.org/W4312961496","https://openalex.org/W4319998094","https://openalex.org/W4367016787","https://openalex.org/W6680669793","https://openalex.org/W6780658109"],"related_works":["https://openalex.org/W841410736","https://openalex.org/W2257897720","https://openalex.org/W129737916","https://openalex.org/W2160983430","https://openalex.org/W3004667746","https://openalex.org/W2124086581","https://openalex.org/W4223569781","https://openalex.org/W2612781909","https://openalex.org/W2562965885","https://openalex.org/W1982485639"],"abstract_inverted_index":{"Traditional":[0],"end-effector":[1,38,45,62,259],"robots":[2,230],"for":[3,27,88,174,264],"arm":[4,26,151,178,205,215,228,292],"rehabilitation":[5],"are":[6],"usually":[7],"attached":[8],"at":[9,19,114],"the":[10,25,58,81,93,155,168,172,176,191,200,203,213,232,236,250,280,283],"hand,":[11],"primarily":[12],"focusing":[13],"on":[14,279,285],"coordinated":[15],"multi-joint":[16,53,273],"training.":[17,274,293],"Therapy":[18],"an":[20,256],"individual":[21],"joint":[22],"level":[23],"of":[24,60,67,86,92,103,167,186,190,202,212,226,247,282],"severely":[28],"impaired":[29],"stroke":[30],"survivors":[31],"is":[32],"not":[33],"always":[34],"possible":[35],"with":[36,287],"existing":[37,227],"robots.":[39],"The":[40,165,195],"Arm":[41],"Rehabilitation":[42],"Robot":[43],"(AREBO)\u2014an":[44],"robot\u2014was":[46],"designed":[47,258],"to":[48,76,107,119,130,153,224,244,272],"provide":[49],"both":[50,141],"single":[51],"and":[52,70,72,84,99,117,134,143,159,171,216,234],"assisted":[54],"training":[55,89,139],"while":[56],"retaining":[57],"advantages":[59],"traditional":[61],"robots,":[63],"such":[64],"as":[65],"ease":[66],"use,":[68],"compactness":[69],"portability,":[71],"potential":[73],"cost-effectiveness":[74],"(compared":[75],"exoskeletons).":[77],"This":[78,252],"work":[79,253,276],"presents":[80],"design,":[82],"optimization,":[83],"characterization":[85,166],"AREBO":[87,95,136,220],"single-joint":[90,138,265],"movements":[91,201],"arm.":[94,251],"has":[96,221],"three":[97,100],"actuated":[98],"unactuated":[101],"degrees":[102,185],"freedom,":[104],"allowing":[105],"it":[106],"apply":[108],"forces":[109],"in":[110,140,231,249],"any":[111,288],"arbitrary":[112,120],"direction":[113],"its":[115,123,132],"endpoint":[116],"self-align":[118],"orientations":[121],"within":[122],"workspace.":[124],"AREBO\u2019s":[125],"link":[126],"lengths":[127],"were":[128,180],"optimized":[129],"maximize":[131],"workspace":[133],"manipulability.":[135],"provides":[137],"unassisted":[142],"adaptive":[144,237],"weight":[145,238],"support":[146,239],"modes":[147],"using":[148,162,182,209],"a":[149,183,210],"human":[150,156,177,192,204,214],"model":[152,189,211],"estimate":[154],"arm\u2019s":[157],"kinematics":[158],"dynamics":[160],"without":[161],"additional":[163],"sensors.":[164],"robot\u2019s":[169,217],"controller":[170],"algorithm":[173],"estimating":[175],"parameters":[179],"performed":[181],"two":[184],"freedom":[187],"mechatronic":[188],"shoulder":[193],"joint.":[194],"results":[196],"demonstrate":[197],"that":[198,225],"(a)":[199],"can":[206,242,261,268],"be":[207,262,269],"estimated":[208],"kinematics,":[218],"(b)":[219],"similar":[222],"transparency":[223],"therapy":[229],"literature,":[233],"(c)":[235],"mode":[240],"control":[241],"adapt":[243],"different":[245],"levels":[246],"impairment":[248],"demonstrates":[254],"how":[255],"appropriately":[257],"robot":[260],"used":[263],"training,":[266],"which":[267],"easily":[270],"extended":[271],"Future":[275],"will":[277],"focus":[278],"evaluation":[281],"system":[284],"patients":[286],"neurological":[289],"condition":[290],"requiring":[291]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-01-23T23:20:30.427331","created_date":"2025-10-10T00:00:00"}
