{"id":"https://openalex.org/W2981150551","doi":"https://doi.org/10.3390/s19204461","title":"Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters","display_name":"Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters","publication_year":2019,"publication_date":"2019-10-15","ids":{"openalex":"https://openalex.org/W2981150551","doi":"https://doi.org/10.3390/s19204461","mag":"2981150551","pmid":"https://pubmed.ncbi.nlm.nih.gov/31618848"},"language":"en","primary_location":{"id":"doi:10.3390/s19204461","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204461","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4461/pdf?version=1571826513","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/20/4461/pdf?version=1571826513","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhongyi Li","orcid":"https://orcid.org/0000-0002-5452-0891"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongyi Li","raw_affiliation_strings":["The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":"https://orcid.org/0000-0002-5452-0891","affiliations":[{"raw_affiliation_string":"The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055905208","display_name":"Xiang Cui","orcid":"https://orcid.org/0000-0003-4779-4365"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiang Cui","raw_affiliation_strings":["Beijing Machine and Equipment Institute, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Machine and Equipment Institute, Beijing 100191, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616599","display_name":"Jianbin Zhang","orcid":"https://orcid.org/0000-0003-4318-7330"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianbin Zhang","raw_affiliation_strings":["The School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033529424","display_name":"Shaoping Bai","orcid":"https://orcid.org/0000-0001-5882-9768"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Shaoping Bai","raw_affiliation_strings":["The Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-5882-9768","affiliations":[{"raw_affiliation_string":"The Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5055905208","https://openalex.org/A5100616599"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6978,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.68548059,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"20","first_page":"4461","last_page":"4461"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9990000128746033,"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":0.9948999881744385,"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/exoskeleton","display_name":"Exoskeleton","score":0.9870728850364685},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.9090468883514404},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5138047337532043},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4945184886455536},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.41820746660232544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40869593620300293},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07337343692779541}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9870728850364685},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9090468883514404},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5138047337532043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4945184886455536},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.41820746660232544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40869593620300293},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07337343692779541},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D000071939","descriptor_name":"Stroke Rehabilitation","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":"Q000503","qualifier_name":"physiopathology","is_major_topic":false}],"locations_count":6,"locations":[{"id":"doi:10.3390/s19204461","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204461","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4461/pdf?version=1571826513","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31618848","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31618848","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pure.atira.dk:openaire/1583c509-28ff-462f-9edb-c3d9bba238cf","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/1583c509-28ff-462f-9edb-c3d9bba238cf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chen, W, Li, Z, Cui, X, Zhang, J & Bai, S 2019, 'Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters', Sensors, vol. 19, no. 20, 4461. https://doi.org/10.3390/s19204461","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:8c08b27405994b628ec6eb7b89afd706","is_oa":true,"landing_page_url":"https://doaj.org/article/8c08b27405994b628ec6eb7b89afd706","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":"Sensors, Vol 19, Iss 20, p 4461 (2019)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5830808","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6832992","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/20/4461/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19204461","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":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19204461","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204461","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4461/pdf?version=1571826513","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3056483837","display_name":null,"funder_award_id":"61773042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7649157534","display_name":null,"funder_award_id":"51675018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2981150551.pdf","grobid_xml":"https://content.openalex.org/works/W2981150551.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1524840832","https://openalex.org/W1536806151","https://openalex.org/W1632700731","https://openalex.org/W1968334754","https://openalex.org/W1985063735","https://openalex.org/W2022787437","https://openalex.org/W2054120788","https://openalex.org/W2057909746","https://openalex.org/W2058159824","https://openalex.org/W2075557971","https://openalex.org/W2096347511","https://openalex.org/W2107537217","https://openalex.org/W2113731335","https://openalex.org/W2125609926","https://openalex.org/W2126663592","https://openalex.org/W2131509297","https://openalex.org/W2134525555","https://openalex.org/W2141642991","https://openalex.org/W2153081145","https://openalex.org/W2154100530","https://openalex.org/W2156318728","https://openalex.org/W2156536366","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2277272260","https://openalex.org/W2533599559","https://openalex.org/W2586074459","https://openalex.org/W2600077184","https://openalex.org/W2802587944","https://openalex.org/W3152229788","https://openalex.org/W4232270704","https://openalex.org/W4236950858","https://openalex.org/W6681097800"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4409892636","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Compared":[0],"with":[1,4,149,153],"conventional":[2],"exoskeletons":[3,9,19],"rigid":[5],"links,":[6],"cable-driven":[7,18,53],"upper-limb":[8],"are":[10],"light":[11],"weight":[12],"and":[13,31,42,66,101,122],"have":[14],"simple":[15],"structures.":[16],"However,":[17],"rely":[20],"heavily":[21],"on":[22],"the":[23,48,76,93,99,102,109,116,126,136,139],"human":[24,61,79,103],"skeletal":[25],"system":[26],"for":[27],"support.":[28],"Kinematic":[29],"modeling":[30],"control":[32],"thus":[33],"becomes":[34],"very":[35],"challenging":[36],"due":[37],"to":[38,59,73,75,88,134],"inaccurate":[39],"anthropomorphic":[40],"parameters":[41],"flexible":[43],"attachments.":[44],"In":[45],"this":[46],"paper,":[47],"mechanical":[49],"design":[50],"of":[51,63,78,108,118,125,138],"a":[52,150],"arm":[54,70],"rehabilitation":[55],"exoskeleton":[56,90,100,110,155],"is":[57,82,111,132,146],"proposed":[58],"accommodate":[60],"limbs":[62,81],"different":[64],"sizes":[65],"shapes.":[67],"A":[68,105,128],"novel":[69],"cuff":[71],"able":[72],"adapt":[74],"contours":[77],"upper":[80],"designed.":[83],"This":[84],"has":[85],"given":[86],"rise":[87],"an":[89,154],"which":[91],"reduces":[92],"uncertainties":[94],"caused":[95],"by":[96,114],"instabilities":[97],"between":[98],"arm.":[104],"kinematic":[106,140,144],"model":[107,145],"further":[112],"developed":[113,143],"considering":[115],"inaccuracies":[117],"human-arm":[119],"skeleton":[120],"kinematics":[121],"attachment":[123],"errors":[124],"exoskeleton.":[127],"parameter":[129],"identification":[130],"method":[131],"used":[133],"improve":[135],"accuracy":[137],"model.":[141],"The":[142],"finally":[147],"tested":[148],"primary":[151],"experiment":[152],"prototype.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
