{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T14:45:56Z","timestamp":1773153956948,"version":"3.50.1"},"reference-count":26,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T00:00:00Z","timestamp":1758067200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,11]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Robotic rehabilitation requires personalized, versatile, and efficient devices to accommodate the diverse needs of patients recovering from motor impairments. In this paper, we focus on hand rehabilitation and analyse a tendon-driven, modular, and adaptable robotic glove actuated by twisted string actuators (TSAs). The proposed solution exploits flexibility in design, allowing customization based on individual patient needs while ensuring effective assistance in hand movements.<\/jats:p>\n                  <jats:p>Specifically, in this paper we investigate the kinematic relationships between tendon-driven actuators and hand motion. We provide a detailed implementation of multiple functional modules within the glove, designed to accommodate various rehabilitation exercises and adapt to different degrees of motor impairment. In addition, we present experimental tests involving a user to evaluate the system\u2019s performance, usability, and effectiveness in facilitating hand movement. The results provide insights into the potential of TSA-driven robotic gloves for enhancing rehabilitation outcomes through a combination of precise actuation and adaptability to user\u2019s needs.<\/jats:p>","DOI":"10.1017\/s0263574725102464","type":"journal-article","created":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T07:41:20Z","timestamp":1758094880000},"page":"3902-3920","source":"Crossref","is-referenced-by-count":2,"title":["Analysis and development of the modular elements of a tendon-actuated glove for hand rehabilitation"],"prefix":"10.1017","volume":"43","author":[{"given":"Mihai","family":"Dragusanu","sequence":"first","affiliation":[{"name":"University of Siena"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alessio","family":"Piroli","sequence":"additional","affiliation":[{"name":"University of Siena"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2158-5920","authenticated-orcid":false,"given":"Monica","family":"Malvezzi","sequence":"additional","affiliation":[{"name":"University of Siena"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,9,17]]},"reference":[{"key":"S0263574725102464_ref9","doi-asserted-by":"crossref","unstructured":"[9] Popov, D. , Gaponov, I. and Ryu, J. H. , \u201cBidirectional Elbow Exoskeleton Based on Twisted-string Actuators.\u201d In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE (2013) pp. 5853\u20135858.","DOI":"10.1109\/IROS.2013.6697204"},{"key":"S0263574725102464_ref7","doi-asserted-by":"publisher","DOI":"10.3390\/act11080232"},{"key":"S0263574725102464_ref11","doi-asserted-by":"crossref","unstructured":"[11] Seong, H. S. , Kim, D. H. , Gaponov, I. and Ryu, J. H. , \u201cDevelopment of a Twisted String Actuator-based Exoskeleton for Hip Joint Assistance in Lifting Tasks.\u201d In: 2020 IEEE International Conference on Robotics and Automation (ICRA), IEEE (2020) pp. 761\u2013767.","DOI":"10.1109\/ICRA40945.2020.9197359"},{"key":"S0263574725102464_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2280964"},{"key":"S0263574725102464_ref24","doi-asserted-by":"crossref","unstructured":"[24] Gabiccini, M. , Bicchi, A. , Prattichizzo, D. and Malvezzi, M. , \u201cOn the role of hand synergies in the optimal choice of grasping forces,\u201d Autonomous Robots 31, 235\u2013252 (2011).","DOI":"10.1007\/s10514-011-9244-1"},{"key":"S0263574725102464_ref1","doi-asserted-by":"publisher","DOI":"10.3390\/bioengineering9040129"},{"key":"S0263574725102464_ref5","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.862340"},{"key":"S0263574725102464_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2023.01.127"},{"key":"S0263574725102464_ref21","doi-asserted-by":"crossref","unstructured":"[21] Bullock, I. M. , Borr\u00e0s, J. and Dollar, A. M. , \u201cAssessing Assumptions in Kinematic Hand Models: A Review.\u201d In: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (IEEE, 2012) pp. 139\u2013146.","DOI":"10.1109\/BioRob.2012.6290879"},{"key":"S0263574725102464_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.10.140"},{"key":"S0263574725102464_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1"},{"key":"S0263574725102464_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2408772"},{"key":"S0263574725102464_ref8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2017\/1595061","article-title":"A wearable robotic device based on twisted string actuation for rehabilitation and assistive applications","volume":"2017","author":"Hosseini","year":"2017","journal-title":"J. Robot."},{"key":"S0263574725102464_ref19","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.873558"},{"key":"S0263574725102464_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3568305"},{"key":"S0263574725102464_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2181855"},{"key":"S0263574725102464_ref14","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0086"},{"key":"S0263574725102464_ref3","doi-asserted-by":"publisher","DOI":"10.3390\/app132011287"},{"key":"S0263574725102464_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2024.103141"},{"key":"S0263574725102464_ref20","doi-asserted-by":"publisher","DOI":"10.1080\/10255842.2012.702864"},{"key":"S0263574725102464_ref12","doi-asserted-by":"crossref","unstructured":"[12] Hosseini, M. , Seng\u00fcl, A. , Pane, Y. , De Schutter, J. and Bruyninck, H. , \u201cExoten-glove: A Force-Feedback Haptic Glove Based on Twisted String Actuation System.\u201d In: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) (IEEE, 2018) pp. 320\u2013327.","DOI":"10.1109\/ROMAN.2018.8525637"},{"key":"S0263574725102464_ref2","doi-asserted-by":"publisher","DOI":"10.3389\/fpubh.2023.979225"},{"key":"S0263574725102464_ref16","first-page":"285","volume-title":"International Workshop IFToMM for Sustainable Development Goals","author":"Amici","year":"2025"},{"key":"S0263574725102464_ref17","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2017.00024"},{"key":"S0263574725102464_ref25","unstructured":"[25] Kratochwill, T. R. , Hitchcock, J. , Horner, R. H. , Levin, J. R. , Levin, S. L. Rindskopf, D. M. , and Shadish, W. R. , \u201cSingle-case designs technical documentation,\u201d What works clearinghouse (2010). https:\/\/scholar.google.com\/scholar?hl=it&as_sdt=0%2C5&q=Single-case+designs+technical+documentation.+What+works+clearinghouse&btnG=#:~:text=includi%20citazioni-,%5BPDF%5D%20ed.gov,-Single%2Dcase%20designs."},{"key":"S0263574725102464_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3172510"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574725102464","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,3]],"date-time":"2026-02-03T22:25:24Z","timestamp":1770157524000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574725102464\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,17]]},"references-count":26,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2025,11]]}},"alternative-id":["S0263574725102464"],"URL":"https:\/\/doi.org\/10.1017\/s0263574725102464","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,17]]}}}