{"id":"https://openalex.org/W4388655851","doi":"https://doi.org/10.3390/robotics12060154","title":"Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot","display_name":"Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot","publication_year":2023,"publication_date":"2023-11-14","ids":{"openalex":"https://openalex.org/W4388655851","doi":"https://doi.org/10.3390/robotics12060154"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12060154","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060154","pdf_url":"https://www.mdpi.com/2218-6581/12/6/154/pdf?version=1699952157","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/2218-6581/12/6/154/pdf?version=1699952157","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030396803","display_name":"Julio Hernando Vargas Ria\u00f1o","orcid":"https://orcid.org/0000-0001-7367-8363"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Julio Vargas-Ria\u00f1o","raw_affiliation_strings":["Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial (Instituto ai2), Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0001-7367-8363","affiliations":[{"raw_affiliation_string":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial (Instituto ai2), Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023105639","display_name":"\u00d3scar Agudelo","orcid":"https://orcid.org/0000-0002-1725-0490"},"institutions":[{"id":"https://openalex.org/I3129686679","display_name":"University of the Llanos","ror":"https://ror.org/042335e16","country_code":"CO","type":"education","lineage":["https://openalex.org/I3129686679"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"\u00d3scar Agudelo-Varela","raw_affiliation_strings":["Facultad de Ciencias B\u00e1sicas e Ingenier\u00eda, Universidad de los Llanos, Villavicencio 500002, Colombia"],"raw_orcid":"https://orcid.org/0000-0002-1725-0490","affiliations":[{"raw_affiliation_string":"Facultad de Ciencias B\u00e1sicas e Ingenier\u00eda, Universidad de los Llanos, Villavicencio 500002, Colombia","institution_ids":["https://openalex.org/I3129686679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088121082","display_name":"A. Valera","orcid":"https://orcid.org/0000-0001-6843-6394"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"\u00c1ngel Valera","raw_affiliation_strings":["Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial (Instituto ai2), Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6843-6394","affiliations":[{"raw_affiliation_string":"Instituto Universitario de Autom\u00e1tica e Inform\u00e1tica Industrial (Instituto ai2), Universitat Polit\u00e8cnica de Val\u00e8ncia, 46022 Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030396803"],"corresponding_institution_ids":["https://openalex.org/I60053951"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2146,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48984319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":"6","first_page":"154","last_page":"154"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9955000281333923,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6687980890274048},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6598096489906311},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5823430418968201},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5717801451683044},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5708552002906799},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5496854782104492},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4818107485771179},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.47685539722442627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.451643705368042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4239789843559265},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4036770462989807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2842809855937958},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1522977352142334}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6687980890274048},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6598096489906311},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5823430418968201},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5717801451683044},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5708552002906799},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5496854782104492},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4818107485771179},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.47685539722442627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.451643705368042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4239789843559265},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4036770462989807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2842809855937958},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1522977352142334},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12060154","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060154","pdf_url":"https://www.mdpi.com/2218-6581/12/6/154/pdf?version=1699952157","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:riunet.upv.es:10251/205848","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/205848","pdf_url":"http://hdl.handle.net/10251/205848","source":{"id":"https://openalex.org/S4306401500","display_name":"RiuNet (Politechnical University of Valencia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"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":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:af43a8cae2994c25812f9feedb04763b","is_oa":true,"landing_page_url":"https://doaj.org/article/af43a8cae2994c25812f9feedb04763b","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 154 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics12060154","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12060154","pdf_url":"https://www.mdpi.com/2218-6581/12/6/154/pdf?version=1699952157","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":[],"awards":[{"id":"https://openalex.org/G2290487598","display_name":null,"funder_award_id":"PID2021-125694OB-I00","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G330808973","display_name":null,"funder_award_id":"PID2021-125694OB-I00","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8965571110","display_name":null,"funder_award_id":"PID2021-125694OB-I00","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320309955","display_name":"Departamento Administrativo de Ciencia, Tecnolog\u00eda e Innovaci\u00f3n (COLCIENCIAS)","ror":"https://ror.org/048jthh02"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320330317","display_name":"Universidad de los Llanos","ror":"https://ror.org/042335e16"},{"id":"https://openalex.org/F4320334905","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388655851.pdf"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W151481076","https://openalex.org/W1967193189","https://openalex.org/W1981000779","https://openalex.org/W1996117239","https://openalex.org/W1999566389","https://openalex.org/W2043356427","https://openalex.org/W2091009618","https://openalex.org/W2158782408","https://openalex.org/W2484390987","https://openalex.org/W2496956530","https://openalex.org/W2743463877","https://openalex.org/W2762005860","https://openalex.org/W2766263953","https://openalex.org/W2795231997","https://openalex.org/W2885444578","https://openalex.org/W2961487375","https://openalex.org/W2965209266","https://openalex.org/W2965215408","https://openalex.org/W2970489687","https://openalex.org/W2999494554","https://openalex.org/W3007676061","https://openalex.org/W3046245252","https://openalex.org/W3082398003","https://openalex.org/W3091811809","https://openalex.org/W3108641221","https://openalex.org/W3159137811","https://openalex.org/W3163286308","https://openalex.org/W3167587310","https://openalex.org/W3205938871","https://openalex.org/W3211534073","https://openalex.org/W4200009189","https://openalex.org/W4205917025","https://openalex.org/W4205996330","https://openalex.org/W4206839101","https://openalex.org/W4210532416","https://openalex.org/W4213069998","https://openalex.org/W4221027711","https://openalex.org/W4224300267","https://openalex.org/W4229031568","https://openalex.org/W4233813833","https://openalex.org/W4234049538","https://openalex.org/W4234812532","https://openalex.org/W4235118199","https://openalex.org/W4239653970","https://openalex.org/W4245348141","https://openalex.org/W4250691162","https://openalex.org/W4256309841","https://openalex.org/W4292247333","https://openalex.org/W4292308213","https://openalex.org/W4294233731","https://openalex.org/W4296830675","https://openalex.org/W4297985168","https://openalex.org/W4308330814","https://openalex.org/W4372346137","https://openalex.org/W4377081581","https://openalex.org/W4379118110","https://openalex.org/W4387185787","https://openalex.org/W4387702157","https://openalex.org/W4387977141","https://openalex.org/W4388020469","https://openalex.org/W4388160334","https://openalex.org/W6846758088"],"related_works":["https://openalex.org/W1981988083","https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2115657261","https://openalex.org/W2029178612","https://openalex.org/W2390361220"],"abstract_inverted_index":{"The":[0,130,168],"ankle":[1,16,33,73],"is":[2,17,170],"a":[3,7,18,30,53,67,80,160],"complex":[4],"joint":[5],"with":[6,70,144],"high":[8],"injury":[9],"incidence.":[10],"Rehabilitation":[11],"Robotics":[12],"applied":[13],"to":[14,58,83,99,121,152],"the":[15,25,40,46,59,71,75,85,90,97,101,107,111,119,124,141,153,173],"very":[19],"active":[20],"research":[21],"field.":[22],"We":[23,51,78,94,158,186],"present":[24],"kinematics":[26],"and":[27,48,88,103,113,136,164,172],"statics":[28,143],"of":[29,92,156],"cable-driven":[31,68,174],"reconfigurable":[32,125],"rehabilitation":[34],"robot.":[35],"First,":[36],"we":[37,65,117,139],"studied":[38],"how":[39],"tendons":[41],"pull":[42],"mid-foot":[43],"bones":[44],"around":[45],"talocrural":[47],"subtalar":[49],"axes.":[50],"proposed":[52],"hybrid":[54],"serial-parallel":[55],"mechanism":[56],"analogous":[57],"ankle.":[60],"Then,":[61],"using":[62,106],"screw":[63],"theory,":[64],"synthesized":[66],"robot":[69,175],"human":[72],"in":[74],"closed-loop":[76],"kinematics.":[77],"incorporated":[79],"draw-wire":[81],"sensor":[82],"measure":[84],"axes\u2019":[86,154],"pose":[87],"compute":[89],"product":[91],"exponentials.":[93],"also":[95],"reconfigured":[96],"cables":[98],"balance":[100],"tension":[102],"pressure":[104],"forces":[105],"axis":[108],"projection":[109],"on":[110],"base":[112],"platform":[114,161],"planes.":[115],"Furthermore,":[116],"computed":[118],"workspace":[120],"show":[122],"that":[123],"design":[126,169],"fits":[127],"several":[128],"sizes.":[129],"data":[131],"used":[132],"are":[133],"from":[134],"anthropometry":[135],"statistics.":[137],"Finally,":[138],"validated":[140],"robot\u2019s":[142],"MuJoCo":[145],"for":[146,191],"various":[147],"cable":[148],"length":[149],"groups":[150],"corresponding":[151],"range":[155],"motion.":[157],"suggested":[159],"adjusting":[162],"system":[163],"an":[165],"alignment":[166],"method.":[167],"lightweight,":[171],"has":[176],"advantages":[177],"over":[178],"rigid":[179],"parallel":[180],"robots,":[181],"such":[182],"as":[183],"Stewart":[184],"platforms.":[185],"will":[187],"use":[188],"compliant":[189],"actuators":[190],"enhancing":[192],"human\u2013robot":[193],"interaction.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-21T23:30:37.877113","created_date":"2025-10-10T00:00:00"}