{"id":"https://openalex.org/W3082087458","doi":"https://doi.org/10.3390/robotics9030067","title":"Displacement Analysis and Design of a (2\u2013RRU)\u2013URR Parallel Mechanism Performing 2R1T Output Motion for Thumb Rehabilitation","display_name":"Displacement Analysis and Design of a (2\u2013RRU)\u2013URR Parallel Mechanism Performing 2R1T Output Motion for Thumb Rehabilitation","publication_year":2020,"publication_date":"2020-08-28","ids":{"openalex":"https://openalex.org/W3082087458","doi":"https://doi.org/10.3390/robotics9030067","mag":"3082087458"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9030067","pdf_url":null,"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://doi.org/10.3390/robotics9030067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011343199","display_name":"Woo-hyeok Choi","orcid":"https://orcid.org/0000-0001-5728-0814"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Woo-hyeok Choi","raw_affiliation_strings":["Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5728-0814","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6910-3329","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5011343199"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.7242,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.74195489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"9","issue":"3","first_page":"67","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9965000152587891,"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":0.9965000152587891,"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":0.9846000075340271,"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":0.968999981880188,"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":0.9040114879608154},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.7472622394561768},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7340821027755737},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5996172428131104},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5132858157157898},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4951447546482086},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.48774105310440063},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4831230342388153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4778689742088318},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45558106899261475},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4511024057865143},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.42184045910835266},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3502423167228699},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2368328869342804},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22021615505218506},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20399820804595947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18254631757736206},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08739420771598816}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9040114879608154},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.7472622394561768},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7340821027755737},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5996172428131104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5132858157157898},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4951447546482086},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.48774105310440063},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4831230342388153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4778689742088318},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45558106899261475},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4511024057865143},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.42184045910835266},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3502423167228699},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2368328869342804},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22021615505218506},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20399820804595947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18254631757736206},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08739420771598816},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics9030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9030067","pdf_url":null,"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:1397517229ed4528a185f01f39e4d52a","is_oa":true,"landing_page_url":"https://doaj.org/article/1397517229ed4528a185f01f39e4d52a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 9, Iss 3, p 67 (2020)","raw_type":"article"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0004580992","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100832059","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MDPI Journal of Robotics","raw_type":"journal article"},{"id":"pmh:oai:mdpi.com:/2218-6581/9/3/67/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics9030067","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/robotics9030067","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9030067","pdf_url":null,"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":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3396099597","display_name":"Novel kinematics based on the introduction of the dynamic pairs in the kinemato-dynamic modeling of mechanical systems composed of human and wearable assist-devices","funder_award_id":"17H03162","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1555634426","https://openalex.org/W1617736026","https://openalex.org/W1736318301","https://openalex.org/W1982324628","https://openalex.org/W1988848900","https://openalex.org/W1992375966","https://openalex.org/W1998201582","https://openalex.org/W2026135383","https://openalex.org/W2033791199","https://openalex.org/W2047689511","https://openalex.org/W2049569072","https://openalex.org/W2057687952","https://openalex.org/W2059940307","https://openalex.org/W2064052038","https://openalex.org/W2066459718","https://openalex.org/W2075244559","https://openalex.org/W2077129956","https://openalex.org/W2097415926","https://openalex.org/W2100451701","https://openalex.org/W2102230854","https://openalex.org/W2105162422","https://openalex.org/W2106534831","https://openalex.org/W2120110031","https://openalex.org/W2131444994","https://openalex.org/W2135396551","https://openalex.org/W2138672431","https://openalex.org/W2141635852","https://openalex.org/W2150606742","https://openalex.org/W2159866884","https://openalex.org/W2167830691","https://openalex.org/W2169599337","https://openalex.org/W2342151910","https://openalex.org/W2345068998","https://openalex.org/W2543203575","https://openalex.org/W2572979130","https://openalex.org/W2604222328","https://openalex.org/W2765977769","https://openalex.org/W2976304271","https://openalex.org/W2989305436","https://openalex.org/W3022941535","https://openalex.org/W4241030939","https://openalex.org/W4252015668","https://openalex.org/W6636525347","https://openalex.org/W6678044961","https://openalex.org/W6696812530"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"The":[0,108],"thumb":[1,35,69,198],"assists":[2],"other":[3],"fingers,":[4],"and":[5,61,72,101,125,134,138,156,159,193],"any":[6],"damage":[7],"in":[8,175],"its":[9,86],"functionality":[10],"prevents":[11],"the":[12,22,26,31,34,49,75,79,89,92,96,99,102,120,135,144,150,154,162,176,179,186,189,196],"human":[13],"hand":[14],"from":[15],"performing":[16],"dexterous":[17],"functions.":[18],"In":[19],"this":[20,148],"paper,":[21],"kinematic":[23],"design":[24],"of":[25,33,47,57,78,91,147,153,161,188],"(2\u2013RRU)\u2013URR":[27],"parallel":[28],"mechanism":[29,41,45],"as":[30],"application":[32],"rehabilitation":[36,177],"device":[37,100],"is":[38,42,112,164,173,182],"proposed.":[39],"This":[40],"an":[43,104],"over-constrained":[44],"capable":[46],"achieving":[48],"required":[50],"mobility":[51],"with":[52,195],"fewer":[53],"joints.":[54],"Three":[55],"degrees":[56],"freedom":[58],"exist\u2014two":[59],"rotational":[60,157],"one":[62],"translational":[63],"mobility\u2014that":[64],"are":[65,82,140],"related":[66],"to":[67,84,130,185],"each":[68,131],"movement:":[70],"adduction\u2013abduction":[71],"flexion\u2013extension.":[73],"Considering":[74],"narrow":[76],"space":[77],"hand,":[80,103],"actuators":[81],"designed":[83],"divide":[85],"placement":[87],"into":[88,117],"surface":[90],"palm.":[93],"To":[94,142],"avoid":[95],"collisions":[97],"between":[98],"offset":[105],"was":[106],"adopted.":[107],"displacement":[109],"analysis":[110],"problem":[111],"solved":[113],"by":[114],"dividing":[115],"it":[116],"two":[118],"parts:":[119],"planar":[121],"motion":[122],"generator":[123,127],"(PMG)":[124],"orientation":[126],"(OG),":[128],"according":[129,184],"functional":[132],"motion,":[133],"corresponding":[136],"equations":[137],"procedures":[139],"presented.":[141],"clarify":[143],"basic":[145],"characteristics":[146],"mechanism,":[149,178],"reachable":[151],"workspace":[152,181],"PMG":[155],"ability":[158],"sensitivity":[160],"OG":[163],"demonstrated":[165],"numerically.":[166],"Because":[167],"a":[168],"large":[169],"input":[170,190],"torque":[171,191],"difference":[172],"dangerous":[174],"effective":[180],"determined":[183],"magnitude":[187],"differences":[192],"compared":[194],"measured":[197],"movements.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
