{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T18:08:40Z","timestamp":1785434920016,"version":"3.56.0"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","license":[{"start":{"date-parts":[[2025,8,11]],"date-time":"2025-08-11T00:00:00Z","timestamp":1754870400000},"content-version":"unspecified","delay-in-days":222,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["23K24708"],"award-info":[{"award-number":["23K24708"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["cambridge.org"],"crossmark-restriction":true},"short-container-title":["Wearable Technol."],"published-print":{"date-parts":[[2025]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Accurate estimation of finger joint stiffness is important in assessing the hand condition of stroke patients and developing effective rehabilitation plans. Recent technological advances have enabled the efficient performance of hand therapy and assessment by estimating joint stiffness using soft actuators. While joint modular soft actuators have enabled cost-effective and personalized stiffness estimation, existing approaches face limitations. A corrective approach based on an analytical model suffers from actuator\u2013finger and inter-actuator interactions, particularly in multi-joint systems. In contrast, a data-driven approach struggles with generalization due to limited availability of labeled data. In this study, we proposed a method for energy conservation-based online tuning of the analytical model using an artificial neural network (ANN) to address these challenges. By analyzing each term in the analytical model, we identified causes of estimation error and introduced correction parameters that satisfy energy balance within the actuator\u2013finger complex. The ANN enhances the analytical model\u2019s adaptability to measurement data, thereby improving estimation accuracy. The results show that our method outperforms the conventional corrective approach and exhibits better generalization potential than the purely data-driven approach. In addition, the method also proved effective in estimating stiffness in human subjects, where errors tend to be larger than in prototype experiments. This study is an essential step toward the realization of personalized rehabilitation.<\/jats:p>","DOI":"10.1017\/wtc.2025.10023","type":"journal-article","created":{"date-parts":[[2025,8,11]],"date-time":"2025-08-11T08:23:22Z","timestamp":1754900602000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":0,"title":["Energy conservation-based on-line tuning of an analytical model for accurate estimation of multi-joint stiffness with joint modular soft actuators"],"prefix":"10.1017","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-2252-7663","authenticated-orcid":false,"given":"Fuko","family":"Matsunaga","sequence":"first","affiliation":[{"name":"Chiba University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Taichi","family":"Kurayama","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03vejgn42","id-type":"ROR","asserted-by":"publisher"}],"name":"Uekusa Gakuen University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming-Ta","family":"Ke","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/04qkq2m54","id-type":"ROR","asserted-by":"publisher"}],"name":"National Yunlin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ya-Hsin","family":"Hsueh","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/04qkq2m54","id-type":"ROR","asserted-by":"publisher"}],"name":"National Yunlin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shao Ying","family":"Huang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/05j6fvn87","id-type":"ROR","asserted-by":"publisher"}],"name":"Singapore University of Technology and Design"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jose","family":"Gomez-Tames","sequence":"additional","affiliation":[{"name":"Chiba University"},{"name":"Chiba University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenwei","family":"Yu","sequence":"additional","affiliation":[{"name":"Chiba University"},{"name":"Chiba University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2025,8,11]]},"reference":[{"key":"S2631717625100236_r10","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2023.3349249"},{"key":"S2631717625100236_r1","doi-asserted-by":"publisher","DOI":"10.3390\/disabilities3010007"},{"key":"S2631717625100236_r22","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2023.1093124"},{"key":"S2631717625100236_r23","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2017.00042"},{"key":"S2631717625100236_r30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2678545"},{"key":"S2631717625100236_r27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3376975"},{"key":"S2631717625100236_r19","first-page":"603","article-title":"Telerehabilitation for fingers and wrist using a hand rehabilitation support system and robot hand","volume":"42","author":"Mouri","year":"2009","journal-title":"IFAC Proceedings"},{"key":"S2631717625100236_r8","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0125"},{"key":"S2631717625100236_r29","doi-asserted-by":"publisher","DOI":"10.1016\/j.cma.2022.115569"},{"key":"S2631717625100236_r14","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2012.07.034"},{"key":"S2631717625100236_r16","first-page":"1","article-title":"Performance validation of joint modular soft actuators for finger joint stiffness estimation","volume":"2024","author":"Matsunaga","year":"2024","journal-title":"17th International Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe)"},{"key":"S2631717625100236_r12","doi-asserted-by":"publisher","DOI":"10.3390\/act11030084"},{"key":"S2631717625100236_r21","doi-asserted-by":"publisher","DOI":"10.1017\/wtc.2023.26"},{"key":"S2631717625100236_r13","unstructured":"Krueger, D , Caballero, E , Jacobsen, J-H , Zhang, A , Binas, J , Zhang, D , Le Priol, R and Courville, A (2021) Out-of-distribution generalization via risk extrapolation (rex). In Proceedings of the 38th International Conference on Machine Learning, PMLR 139, 5815\u20135826."},{"key":"S2631717625100236_r25","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2022.3174808"},{"key":"S2631717625100236_r17","doi-asserted-by":"publisher","DOI":"10.3390\/robotics12030083"},{"key":"S2631717625100236_r6","volume-title":"Statpearls","author":"Harb","year":"2023"},{"key":"S2631717625100236_r7","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.00111"},{"key":"S2631717625100236_r18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3416073"},{"key":"S2631717625100236_r2","doi-asserted-by":"publisher","DOI":"10.1093\/ptj\/67.2.206"},{"key":"S2631717625100236_r3","doi-asserted-by":"publisher","DOI":"10.1177\/17474930211065917"},{"key":"S2631717625100236_r32","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2024.1334643"},{"key":"S2631717625100236_r20","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2023.3236070"},{"key":"S2631717625100236_r28","doi-asserted-by":"publisher","DOI":"10.2490\/jjrm1963.39.409"},{"key":"S2631717625100236_r9","doi-asserted-by":"publisher","DOI":"10.1007\/s00466-022-02260-0"},{"key":"S2631717625100236_r4","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-023-15919-4"},{"key":"S2631717625100236_r15","doi-asserted-by":"publisher","DOI":"10.1161\/01.STR.0000087172.16305.CD"},{"key":"S2631717625100236_r26","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.592637"},{"key":"S2631717625100236_r11","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3395468"},{"key":"S2631717625100236_r24","doi-asserted-by":"publisher","DOI":"10.5194\/gmd-16-251-2023"},{"key":"S2631717625100236_r31","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2022.3195549"},{"key":"S2631717625100236_r5","doi-asserted-by":"publisher","DOI":"10.1007\/s10994-022-06268-8"}],"container-title":["Wearable Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S2631717625100236","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,11]],"date-time":"2025-08-11T08:23:24Z","timestamp":1754900604000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S2631717625100236\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":32,"alternative-id":["S2631717625100236"],"URL":"https:\/\/doi.org\/10.1017\/wtc.2025.10023","relation":{},"ISSN":["2631-7176"],"issn-type":[{"value":"2631-7176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"\u00a9 The Author(s), 2025. Published by Cambridge University Press","name":"copyright","label":"Copyright","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This is an Open Access article, distributed under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike licence (http:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the same Creative Commons licence is used to distribute the re-used or adapted article and the original article is properly cited. The written permission of Cambridge University Press must be obtained prior to any commercial use.","name":"license","label":"License","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This content has been made available to all.","name":"free","label":"Free to read"}],"article-number":"e41"}}