{"id":"https://openalex.org/W3024601918","doi":"https://doi.org/10.3390/s20102852","title":"Joint Angle Estimation of a Tendon-Driven Soft Wearable Robot through a Tension and Stroke Measurement","display_name":"Joint Angle Estimation of a Tendon-Driven Soft Wearable Robot through a Tension and Stroke Measurement","publication_year":2020,"publication_date":"2020-05-17","ids":{"openalex":"https://openalex.org/W3024601918","doi":"https://doi.org/10.3390/s20102852","mag":"3024601918","pmid":"https://pubmed.ncbi.nlm.nih.gov/32429530"},"language":"en","primary_location":{"id":"doi:10.3390/s20102852","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102852","pdf_url":null,"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://doi.org/10.3390/s20102852","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073228214","display_name":"Byungchul Kim","orcid":"https://orcid.org/0000-0002-4659-3310"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungchul Kim","raw_affiliation_strings":["Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012646244","display_name":"Jiwon Ryu","orcid":"https://orcid.org/0000-0001-7927-9654"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jiwon Ryu","raw_affiliation_strings":["Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyu-Jin Cho","raw_affiliation_strings":["Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, School of Mechanical and Aerospace Engineering, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Soft Robotics Research Center, Seoul National University, Gwanak-ro 1, Gwanak-gu, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062631070"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6076,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.63438787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"20","issue":"10","first_page":"2852","last_page":"2852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9979000091552734,"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":0.9835000038146973,"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/wearable-computer","display_name":"Wearable computer","score":0.7038922309875488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6885056495666504},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6878859996795654},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5877598524093628},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.46509256958961487},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4571857154369354},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4403442144393921},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43681207299232483},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.41755419969558716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3850386142730713},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38170021772384644},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12247192859649658}],"concepts":[{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7038922309875488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6885056495666504},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6878859996795654},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5877598524093628},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.46509256958961487},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4571857154369354},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4403442144393921},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43681207299232483},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.41755419969558716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3850386142730713},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38170021772384644},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12247192859649658},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","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":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D013710","descriptor_name":"Tendons","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s20102852","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102852","pdf_url":null,"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:32429530","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32429530","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:doaj.org/article:9efd97c9ad564488bd373f7fb2e19257","is_oa":true,"landing_page_url":"https://doaj.org/article/9efd97c9ad564488bd373f7fb2e19257","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 20, Iss 10, p 2852 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/10/2852/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20102852","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"},{"id":"pmh:oai:pubmedcentral.nih.gov:7288088","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7288088","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20102852","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20102852","pdf_url":null,"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/G4503299292","display_name":null,"funder_award_id":"2015M3C1B2052817","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G70738380","display_name":null,"funder_award_id":"2016R1A5A1938472","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1978646801","https://openalex.org/W1988273910","https://openalex.org/W1990084644","https://openalex.org/W1994380917","https://openalex.org/W2010334265","https://openalex.org/W2010695958","https://openalex.org/W2024242733","https://openalex.org/W2033246370","https://openalex.org/W2034052310","https://openalex.org/W2035753646","https://openalex.org/W2079830066","https://openalex.org/W2146049211","https://openalex.org/W2155337985","https://openalex.org/W2162394694","https://openalex.org/W2165272793","https://openalex.org/W2169448366","https://openalex.org/W2313931288","https://openalex.org/W2319801867","https://openalex.org/W2398588980","https://openalex.org/W2520346623","https://openalex.org/W2563111402","https://openalex.org/W2578460198","https://openalex.org/W2591221953","https://openalex.org/W2604222328","https://openalex.org/W2738004871","https://openalex.org/W2783572696","https://openalex.org/W2790913522","https://openalex.org/W2807695615","https://openalex.org/W2810780167","https://openalex.org/W2883071241","https://openalex.org/W2896988665","https://openalex.org/W2904422212","https://openalex.org/W2970505838","https://openalex.org/W2976994648","https://openalex.org/W2985158086","https://openalex.org/W4211049957","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573","https://openalex.org/W2116005591","https://openalex.org/W2736573057"],"abstract_inverted_index":{"The":[0,184],"size":[1],"of":[2,57,90,109,181,190,202],"a":[3,16,75,96,107,134,142,166,174],"device":[4],"and":[5,26,36,82,87,122,205],"its":[6],"adaptability":[7],"to":[8,32,38,69,100,141,194],"human":[9,40,64],"properties":[10],"are":[11],"important":[12],"factors":[13],"in":[14,148,159,196],"developing":[15],"wearable":[17,20,46,160,168,192],"device.":[18],"In":[19,66],"robot":[21,161,169,193],"research,":[22,68],"therefore,":[23],"soft":[24,59],"materials":[25],"tendon":[27],"transmissions":[28],"have":[29],"been":[30],"utilized":[31],"make":[33],"robots":[34],"compact":[35],"adaptable":[37],"the":[39,58,91,102,110,116,119,123,138,145,153,179,191],"body.":[41],"However,":[42],"when":[43],"used":[44,158],"for":[45,199],"robots,":[47],"these":[48,71],"methods":[49,187],"sometimes":[50],"cause":[51],"uncertainties":[52],"that":[53,78],"originate":[54],"from":[55,62],"elongation":[56],"material":[60],"or":[61],"undefined":[63],"properties.":[65],"this":[67,149],"consider":[70],"uncertainties,":[72],"we":[73],"propose":[74],"data-driven":[76],"method":[77,97,140,155],"identifies":[79],"both":[80],"kinematic":[81,94],"stiffness":[83,114],"parameters":[84],"using":[85,128],"tension":[86],"wire":[88],"stroke":[89],"actuators.":[92,183],"Through":[93,113],"identification,":[95,115],"is":[98,126],"proposed":[99,139,154,185],"find":[101],"exact":[103],"joint":[104,111,124],"position":[105],"as":[106],"function":[108],"angle.":[112],"relationship":[117],"between":[118],"actuation":[120],"force":[121],"angle":[125],"obtained":[127],"Gaussian":[129],"Process":[130],"Regression":[131],"(GPR).":[132],"As":[133],"result,":[135],"by":[136],"applying":[137],"specific":[143],"robot,":[144],"research":[146],"outlined":[147],"paper":[150],"verifies":[151],"how":[152],"can":[156],"be":[157],"applications.":[162],"This":[163],"work":[164],"examines":[165],"novel":[167],"named":[170],"Exo-Index,":[171],"which":[172],"assists":[173],"human's":[175],"index":[176],"finger":[177],"through":[178],"use":[180],"three":[182],"identification":[186],"enable":[188],"control":[189],"result":[195],"appropriate":[197],"postures":[198],"grasping":[200],"objects":[201],"different":[203],"shapes":[204],"sizes.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}