<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-05215061</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-04-26T10:31:07+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Design and analysis of a redundant actuated humanoid wrist joint parallel mechanism</title>
            <author role="aut">
              <persName>
                <forename type="first">Buqin</forename>
                <surname>Hu</surname>
              </persName>
              <idno type="halauthorid">3719507-0</idno>
              <affiliation ref="#struct-128319"/>
            </author>
            <author role="crp">
              <persName>
                <forename type="first">Haibo</forename>
                <surname>Qu</surname>
              </persName>
              <email type="md5">4259c95908b4fc2129a32914fc00e2fc</email>
              <email type="domain">bjtu.edu.cn</email>
              <idno type="idhal" notation="numeric">1572053</idno>
              <idno type="halauthorid" notation="string">3426112-1572053</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-3053-7901</idno>
              <affiliation ref="#struct-128319"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Med</forename>
                <forename type="middle">Amine</forename>
                <surname>Laribi</surname>
              </persName>
              <email type="md5">ab354855d9874ef310e801f3db6c751e</email>
              <email type="domain">univ-poitiers.fr</email>
              <idno type="idhal" notation="string">med-amine-laribi</idno>
              <idno type="idhal" notation="numeric">183266</idno>
              <idno type="halauthorid" notation="string">2734585-183266</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-0797-7669</idno>
              <idno type="IDREF">https://www.idref.fr/099386437</idno>
              <idno type="VIAF">https://viaf.org/viaf/201075529</idno>
              <idno type="ISNI">http://isni.org/isni/0000000357780987</idno>
              <affiliation ref="#struct-1098412"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Kunpeng</forename>
                <surname>Wang</surname>
              </persName>
              <idno type="idhal" notation="numeric">1572054</idno>
              <idno type="halauthorid" notation="string">928469-1572054</idno>
              <idno type="ORCID">https://orcid.org/0009-0004-5472-0254</idno>
              <affiliation ref="#struct-128319"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Zhizhen</forename>
                <surname>Zhou</surname>
              </persName>
              <idno type="halauthorid">3473988-0</idno>
              <affiliation ref="#struct-128319"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Sheng</forename>
                <surname>Guo</surname>
              </persName>
              <idno type="halauthorid">2221386-0</idno>
              <affiliation ref="#struct-128319"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Med Amine</forename>
                <surname>LARIBI</surname>
              </persName>
              <email type="md5">ab354855d9874ef310e801f3db6c751e</email>
              <email type="domain">univ-poitiers.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2025-08-19 15:45:48</date>
              <date type="whenModified">2025-10-06 09:54:05</date>
              <date type="whenReleased">2025-08-20 10:59:52</date>
              <date type="whenProduced">2025-08-16</date>
              <date type="whenEndEmbargoed">2025-08-19</date>
              <ref type="file" target="https://hal.science/hal-05215061v1/document">
                <date notBefore="2025-08-19"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-05215061v1/file/Manuscript%20R1_AL%20pour%20HAL.pdf" id="file-5215061-4488390">
                <date notBefore="2025-08-19"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="54533">
                <persName>
                  <forename>Med Amine</forename>
                  <surname>LARIBI</surname>
                </persName>
                <email type="md5">ab354855d9874ef310e801f3db6c751e</email>
                <email type="domain">univ-poitiers.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-05215061</idno>
            <idno type="halUri">https://hal.science/hal-05215061</idno>
            <idno type="halBibtex">hu:hal-05215061</idno>
            <idno type="halRefHtml">&lt;i&gt;Mechanism and Machine Theory&lt;/i&gt;, 2025, 215, pp.106175. &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.mechmachtheory.2025.106175"&gt;&amp;#x27E8;10.1016/j.mechmachtheory.2025.106175&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Mechanism and Machine Theory, 2025, 215, pp.106175. &amp;#x27E8;10.1016/j.mechmachtheory.2025.106175&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-5215061-4488390"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-POITIERS">Université de Poitiers</idno>
            <idno type="stamp" n="ENSMA">Ecole Nationale Supérieure de Mécanique et d'Aérotechnique</idno>
            <idno type="stamp" n="PPRIME">Institut PPRIME (P')</idno>
            <idno type="stamp" n="ISAE-ENSMA">École nationale supérieure de mécanique et d’aérotechnique</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Design and analysis of a redundant actuated humanoid wrist joint parallel mechanism</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Buqin</forename>
                    <surname>Hu</surname>
                  </persName>
                  <idno type="halauthorid">3719507-0</idno>
                  <affiliation ref="#struct-128319"/>
                </author>
                <author role="crp">
                  <persName>
                    <forename type="first">Haibo</forename>
                    <surname>Qu</surname>
                  </persName>
                  <email type="md5">4259c95908b4fc2129a32914fc00e2fc</email>
                  <email type="domain">bjtu.edu.cn</email>
                  <idno type="idhal" notation="numeric">1572053</idno>
                  <idno type="halauthorid" notation="string">3426112-1572053</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-3053-7901</idno>
                  <affiliation ref="#struct-128319"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Med</forename>
                    <forename type="middle">Amine</forename>
                    <surname>Laribi</surname>
                  </persName>
                  <email type="md5">ab354855d9874ef310e801f3db6c751e</email>
                  <email type="domain">univ-poitiers.fr</email>
                  <idno type="idhal" notation="string">med-amine-laribi</idno>
                  <idno type="idhal" notation="numeric">183266</idno>
                  <idno type="halauthorid" notation="string">2734585-183266</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-0797-7669</idno>
                  <idno type="IDREF">https://www.idref.fr/099386437</idno>
                  <idno type="VIAF">https://viaf.org/viaf/201075529</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000357780987</idno>
                  <affiliation ref="#struct-1098412"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Kunpeng</forename>
                    <surname>Wang</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1572054</idno>
                  <idno type="halauthorid" notation="string">928469-1572054</idno>
                  <idno type="ORCID">https://orcid.org/0009-0004-5472-0254</idno>
                  <affiliation ref="#struct-128319"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Zhizhen</forename>
                    <surname>Zhou</surname>
                  </persName>
                  <idno type="halauthorid">3473988-0</idno>
                  <affiliation ref="#struct-128319"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Sheng</forename>
                    <surname>Guo</surname>
                  </persName>
                  <idno type="halauthorid">2221386-0</idno>
                  <affiliation ref="#struct-128319"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">16967</idno>
                <idno type="issn">0094-114X</idno>
                <title level="j">Mechanism and Machine Theory</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <biblScope unit="volume">215</biblScope>
                  <biblScope unit="pp">106175</biblScope>
                  <date type="datePub">2025-08-16</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.mechmachtheory.2025.106175</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Parallel mechanism</term>
                <term xml:lang="en">Wrist joint</term>
                <term xml:lang="en">Bionics</term>
                <term xml:lang="en">Tendon-driven</term>
                <term xml:lang="en">Redundant actuated</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="spi.meca.biom">Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>With the widespread application of humanoid robots and industrial robotic arms in production and daily life, their limited flexibility and weak load-bearing performance have become inadequate to meet practical demands. This study employs biomimetic design principles to analyze the biomechanical and structural properties of the human wrist joint. Based on this analysis, we propose a novel redundantly driven two-degree-of-freedom (2-DOF) parallel mechanism. Firstly, kinematic analysis is conducted from perspectives including degrees of freedom, inverse kinematics, and Jacobian matrix, with its performance validated through numerical models and simulation analysis. Subsequently, the mechanism's performances are evaluated through workspace analysis, singularity investigation, and dexterity assessment, demonstrating its singularityfree workspace and high operational dexterity. Based on these analyses, an experimental platform was established, physical prototypes were fabricated, and a control system was designed. The experimental results validate both the feasibility of the humanoid wrist joint design and its potential for practical applications. This structure demonstrates broad applicability across multiple fields, such as humanoid robot wrist joints, wrist rehabilitation equipment, industrial robotic arms, and special robots.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="institution" xml:id="struct-128319" status="VALID">
          <idno type="ROR">https://ror.org/01yj56c84</idno>
          <orgName>Beijing Jiaotong University</orgName>
          <orgName type="acronym">BJTU</orgName>
          <desc>
            <address>
              <addrLine>No.3 of Shangyuan Residence Haidian District in Beijing</addrLine>
              <country key="CN"/>
            </address>
            <ref type="url">http://www.njtu.edu.cn/en/</ref>
          </desc>
        </org>
        <org type="researchteam" xml:id="struct-1098412" status="VALID">
          <orgName>Cobotique, Bio-ing Robotique pour l'Assistance [Institut Pprime]</orgName>
          <orgName type="acronym">COBRA</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <addrLine>PPRIME Institut P' : Recherche et Ingénierie en Matériaux, Mécanique et Énergétique – 11 boulevard Marie et Pierre Curie – Site du futuroscope – TSA 41123 – 86073 Poitiers Cedex 9 – France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://pprime.fr/la-recherche/genie-mecanique-systemes-complexes/cobra/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-555997" type="direct"/>
            <relation active="#struct-118112" type="indirect"/>
            <relation name="UPR 3346" active="#struct-54493" type="indirect"/>
            <relation name="UPR 3346" active="#struct-300463" type="indirect"/>
            <relation name="UPR3346" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="department" xml:id="struct-555997" status="VALID">
          <orgName>Département Génie Mécanique et Systèmes Complexes [Institut Pprime]</orgName>
          <orgName type="acronym">Département GMSC</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>11 boulevard Marie et Pierre Curie – Site du futuroscope – TSA 41123 – 86073 Poitiers Cedex 9 – France</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-118112" type="direct"/>
            <relation name="UPR 3346" active="#struct-54493" type="indirect"/>
            <relation name="UPR 3346" active="#struct-300463" type="indirect"/>
            <relation name="UPR3346" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-118112" status="VALID">
          <idno type="IdRef">16376297X</idno>
          <idno type="ISNI">0000000121643230</idno>
          <idno type="RNSR">201019365K</idno>
          <idno type="ROR">https://ror.org/05vjdsn22</idno>
          <idno type="Wikidata">Q3151798</idno>
          <orgName>Institut Pprime [UPR 3346]</orgName>
          <orgName type="acronym">PPrime [Poitiers]</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>11 boulevard Marie et Pierre Curie – Site du futuroscope – TSA 41123 – 86073 Poitiers Cedex 9 – France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.pprime.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UPR 3346" active="#struct-54493" type="direct"/>
            <relation name="UPR 3346" active="#struct-300463" type="direct"/>
            <relation name="UPR3346" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-54493" status="VALID">
          <idno type="IdRef">026403765</idno>
          <idno type="ISNI">0000000121606368</idno>
          <idno type="ROR">https://ror.org/04xhy8q59</idno>
          <idno type="Wikidata">Q661056</idno>
          <orgName>Université de Poitiers =  University of Poitiers</orgName>
          <orgName type="acronym">UP</orgName>
          <desc>
            <address>
              <addrLine>15, rue de l'Hôtel Dieu - 86034 Poitiers Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-poitiers.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300463" status="VALID">
          <idno type="IdRef">028024400</idno>
          <idno type="ROR">https://ror.org/04jx68594</idno>
          <orgName>École Nationale Supérieure de Mécanique et d’Aérotechnique [Poitiers]</orgName>
          <orgName type="acronym">ISAE-ENSMA</orgName>
          <desc>
            <address>
              <addrLine>Téléport 2 – 1 avenue Clément AderBP 4010986961 Futuroscope Chasseneuil Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.ensma.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>