{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T22:27:17Z","timestamp":1780957637365,"version":"3.54.1"},"reference-count":76,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2015,10,27]],"date-time":"2015-10-27T00:00:00Z","timestamp":1445904000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,12]]},"abstract":"<jats:p>Rehabilitation of the hands is critical for the restoration of independence in activities of daily living for individuals exhibiting disabilities of the upper extremities. There is initial evidence that robotic devices with force-control-based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this work, we present a novel index finger exoskeleton with Bowden-cable-based series elastic actuation allowing for bidirectional torque control of the device with high backdrivability and low reflected inertia. We present exoskeleton and finger joint torque controllers along with an optimization-based offline parameter estimator. Finally, we carry out tests with the developed prototype to characterize its kinematics, dynamics, and controller performance. Results show that the device preserves the characteristics of natural motion of finger and can be controlled to achieve both exoskeleton and finger joint torque control. Finally, dynamic transparency tests show that the device can be controlled to offer minimal resistance to finger motion. Beyond the present application of the device as a hand rehabilitation exoskeleton, it has the potential to be used as a haptic device for teleoperation.<\/jats:p>","DOI":"10.1177\/0278364915598388","type":"journal-article","created":{"date-parts":[[2015,10,27]],"date-time":"2015-10-27T22:36:41Z","timestamp":1445985401000},"page":"1747-1772","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":167,"title":["An index finger exoskeleton with series elastic actuation for rehabilitation: Design, control and performance characterization"],"prefix":"10.1177","volume":"34","author":[{"given":"Priyanshu","family":"Agarwal","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, The University of Texas at Austin, Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonas","family":"Fox","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, The University of Texas at Austin, Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Youngmok","family":"Yun","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, The University of Texas at Austin, Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marcia K.","family":"O\u2019Malley","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Rice University, Houston, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ashish D.","family":"Deshpande","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, The University of Texas at Austin, Austin, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2015,10,27]]},"reference":[{"key":"bibr1-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1162\/1054746053966996"},{"key":"bibr2-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2013-3893"},{"key":"bibr3-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2013.6650382"},{"key":"bibr4-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631073"},{"key":"bibr5-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1046\/j.1440-1673.2001.01045.x"},{"key":"bibr6-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1136\/ard.27.2.175"},{"key":"bibr7-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501159"},{"key":"bibr8-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1007\/s40141-014-0056-z"},{"key":"bibr9-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011262"},{"key":"bibr10-0278364915598388","volume-title":"Americans with Disabilities: 2010","author":"Brault MW","year":"2012"},{"key":"bibr11-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2011.2157705"},{"key":"bibr12-0278364915598388","volume-title":"Bunnell\u2019s Surgery of the Hand","author":"Bunnell S","year":"1970"},{"key":"bibr13-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700006457"},{"key":"bibr14-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623497325107"},{"key":"bibr15-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.2266-06.2006"},{"key":"bibr16-0278364915598388","first-page":"1","volume":"99","author":"Cempini M","year":"2014","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"bibr17-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/21.59976"},{"key":"bibr18-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907732"},{"key":"bibr19-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2144614"},{"key":"bibr20-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2005.848352"},{"key":"bibr21-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2011.2178240"},{"key":"bibr22-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308056"},{"key":"bibr23-0278364915598388","doi-asserted-by":"publisher","DOI":"10.1016\/j.jhsa.2004.10.010"},{"key":"bibr24-0278364915598388","unstructured":"Ergonomics for Schools (2008) Hand tools. 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