{"id":"https://openalex.org/W2945483779","doi":null,"title":"Adaptive Controllers for Assistive Robotic Devices","display_name":"Adaptive Controllers for Assistive Robotic Devices","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2945483779","mag":"2945483779"},"language":"en","primary_location":{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/144029","doi":null,"is_oa":false,"landing_page_url":"http://deepblue.lib.umich.edu/bitstream/2027.42/144029/1/jrkoller_1.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060783823","display_name":"Jeffrey R. Koller","orcid":"https://orcid.org/0000-0003-1436-1619","observed_orcids":["https://orcid.org/0000-0003-1436-1619"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jeffrey R. Koller","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0003-1436-1619","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5060783823"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":1.0,"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":1.0,"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":9.999999747378752e-05,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.0,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.7400000095367432},{"id":"https://openalex.org/keywords/lower-limb-exoskeleton","display_name":"lower limb exoskeleton","score":0.9490000009536743},{"id":"https://openalex.org/keywords/real-time-optimization","display_name":"real-time optimization","score":0.8429999947547913},{"id":"https://openalex.org/keywords/confidence-analysis","display_name":"confidence analysis","score":0.6869999766349792},{"id":"https://openalex.org/keywords/myoelectric-control","display_name":"myoelectric control","score":0.6539999842643738},{"id":"https://openalex.org/keywords/muscle-recruitment","display_name":"muscle recruitment","score":0.7850000262260437},{"id":"https://openalex.org/keywords/gait-energetics","display_name":"gait energetics","score":0.75},{"id":"https://openalex.org/keywords/hip-power","display_name":"hip power","score":0.3930000066757202},{"id":"https://openalex.org/keywords/walking-speed","display_name":"walking speed","score":0.33799999952316284},{"id":"https://openalex.org/keywords/gait-variability","display_name":"gait variability","score":0.4000000059604645}],"concepts":[{"id":"https://openalex.org/C3017715821","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive technology","level":2,"score":0.4712303876876831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4626738727092743},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4231100082397461},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40837353467941284},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3284454941749573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3254969120025635},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.25331318378448486}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/144029","doi":null,"is_oa":false,"landing_page_url":"http://deepblue.lib.umich.edu/bitstream/2027.42/144029/1/jrkoller_1.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"mag:2945483779","doi":null,"is_oa":false,"landing_page_url":"https://deepblue.lib.umich.edu/handle/2027.42/144029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","score":0.4000000059604645,"display_name":"Good health and well-being"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":126,"referenced_works":["https://openalex.org/W622051594","https://openalex.org/W1633785340","https://openalex.org/W1667469487","https://openalex.org/W1778882367","https://openalex.org/W1788114451","https://openalex.org/W1826404855","https://openalex.org/W1845533652","https://openalex.org/W1864504421","https://openalex.org/W1916816488","https://openalex.org/W1966260448","https://openalex.org/W1968048475","https://openalex.org/W1968885731","https://openalex.org/W1970510730","https://openalex.org/W1972738853","https://openalex.org/W1974860030","https://openalex.org/W1986096174","https://openalex.org/W1986586302","https://openalex.org/W1987938015","https://openalex.org/W1990047283","https://openalex.org/W1991235214","https://openalex.org/W1996957169","https://openalex.org/W1998024620","https://openalex.org/W1998681803","https://openalex.org/W2008503048","https://openalex.org/W2009435671","https://openalex.org/W2013771067","https://openalex.org/W2014066602","https://openalex.org/W2015244452","https://openalex.org/W2015977498","https://openalex.org/W2016716092","https://openalex.org/W2017249007","https://openalex.org/W2020317642","https://openalex.org/W2021574739","https://openalex.org/W2027782798","https://openalex.org/W2029436152","https://openalex.org/W2030770202","https://openalex.org/W2034620796","https://openalex.org/W2036411590","https://openalex.org/W2040080525","https://openalex.org/W2043839380","https://openalex.org/W2046382797","https://openalex.org/W2048726136","https://openalex.org/W2052023461","https://openalex.org/W2053082706","https://openalex.org/W2054326469","https://openalex.org/W2055823008","https://openalex.org/W2058074226","https://openalex.org/W2060673393","https://openalex.org/W2074799954","https://openalex.org/W2078457597","https://openalex.org/W2079441317","https://openalex.org/W2081254081","https://openalex.org/W2092040619","https://openalex.org/W2093185395","https://openalex.org/W2096270069","https://openalex.org/W2097763057","https://openalex.org/W2098682658","https://openalex.org/W2100792856","https://openalex.org/W2101437810","https://openalex.org/W2102000567","https://openalex.org/W2102653827","https://openalex.org/W2104536749","https://openalex.org/W2105802034","https://openalex.org/W2114313344","https://openalex.org/W2116333790","https://openalex.org/W2117608991","https://openalex.org/W2117872137","https://openalex.org/W2121039301","https://openalex.org/W2122464112","https://openalex.org/W2122691910","https://openalex.org/W2125392535","https://openalex.org/W2127149049","https://openalex.org/W2127927857","https://openalex.org/W2130281033","https://openalex.org/W2130769860","https://openalex.org/W2133639509","https://openalex.org/W2138300314","https://openalex.org/W2139044388","https://openalex.org/W2142114107","https://openalex.org/W2144385346","https://openalex.org/W2144781570","https://openalex.org/W2146198038","https://openalex.org/W2148380797","https://openalex.org/W2149646777","https://openalex.org/W2160060605","https://openalex.org/W2163208146","https://openalex.org/W2163385748","https://openalex.org/W2163531103","https://openalex.org/W2167752831","https://openalex.org/W2168224345","https://openalex.org/W2169215326","https://openalex.org/W2169410184","https://openalex.org/W2170477928","https://openalex.org/W2220788145","https://openalex.org/W2232289146","https://openalex.org/W2236853351","https://openalex.org/W2240186311","https://openalex.org/W2243073123","https://openalex.org/W2287555228","https://openalex.org/W2340396749","https://openalex.org/W2343715419","https://openalex.org/W2411309527","https://openalex.org/W2416127396","https://openalex.org/W2416768563","https://openalex.org/W2442896808","https://openalex.org/W2471234362","https://openalex.org/W2477158348","https://openalex.org/W2493209382","https://openalex.org/W2522365874","https://openalex.org/W2523568785","https://openalex.org/W2528868074","https://openalex.org/W2538899416","https://openalex.org/W2553366999","https://openalex.org/W2562207568","https://openalex.org/W2567130154","https://openalex.org/W2576893463","https://openalex.org/W2604730573","https://openalex.org/W2609988131","https://openalex.org/W2700163520","https://openalex.org/W2737156933","https://openalex.org/W2737196964","https://openalex.org/W2740627699","https://openalex.org/W2742221227","https://openalex.org/W2755367247","https://openalex.org/W2797059883","https://openalex.org/W2996101405"],"related_works":["https://openalex.org/W2471234362","https://openalex.org/W2965086331","https://openalex.org/W7118177871","https://openalex.org/W4287440610","https://openalex.org/W2356712155","https://openalex.org/W7015782506","https://openalex.org/W4386978377","https://openalex.org/W2750998916","https://openalex.org/W6889218893","https://openalex.org/W6922595792"],"abstract_inverted_index":{"Lower":[0],"extremity":[1],"assistive":[2,537],"robotic":[3],"devices,":[4],"such":[5,67],"as":[6,230],"exoskeletons":[7,380],"and":[8,22,84,131,164,191,234,276,299,323,371,415,463,543],"prostheses,":[9],"have":[10,139,194,253,530],"the":[11,33,45,118,123,179,184,205,214,224,237,242,269,325,338,403,452],"potential":[12],"to":[13,28,35,53,64,69,101,108,128,136,141,177,213,239,256,266,312,350,369,439,448,466,476],"improve":[14],"mobility":[15],"for":[16,73,111,236,342,516],"millions":[17],"of":[18,41,62,125,134,201,207,227,249,260,271,280,297,316,328,346,355,377,443,502,536],"individuals,":[19],"both":[20,540],"healthy":[21,424],"disabled.":[23],"These":[24],"devices":[25,68,127,538],"are":[26,264],"designed":[27,414],"work":[29,318,348,433,473],"in":[30,48,122,320,427,451,470,539],"conjunction":[31],"with":[32,188,241,423],"user":[34,215],"enhance":[36],"or":[37],"replace":[38],"lost":[39],"functionality":[40],"a":[42,105,142,151,228,231,261,352,365,382,398,455,486,541],"limb.":[43],"Given":[44],"large":[46,468],"variability":[47],"walking":[49,426,450],"dynamics":[50],"from":[51],"person":[52],"person,":[54],"it":[55,80],"is":[56,81],"still":[57],"an":[58,161,247,373,392,417],"open":[59],"research":[60,282,542],"question":[61],"how":[63,294,311,324,388,482],"optimally":[65],"control":[66,190,208,507,520,535],"maximize":[70],"their":[71,406,461,471],"benefit":[72],"each":[74,98,112,157],"individual":[75],"user.":[76],"In":[77,410],"this":[78,361,411,432,503],"context,":[79],"becoming":[82],"more":[83,85,399],"evident":[86],"that":[87,97,120,146,198,210,436,506],"there":[88],"exists":[89],"no":[90],"\"one":[91],"size":[92],"fits":[93],"all\"":[94],"solution,":[95],"but":[96],"device":[99,189,229,238,262],"needs":[100],"be":[102,148,160,304,513],"tuned":[103,149],"on":[104,150,174,310,381,402,509,522],"subject-specific":[106,152,383,534],"basis":[107],"best":[109],"account":[110],"user's":[113],"unique":[114],"gait":[115],"characteristics.":[116],"However,":[117],"controllers":[119],"run":[121],"background":[124],"these":[126,202,250,378,527],"dictate":[129],"when":[130],"what":[132,258],"type":[133],"actuation":[135,374],"deliver":[137],"often":[138,172],"up":[140],"hundred":[143],"different":[144],"parameters":[145],"can":[147,159,331],"basis.":[153,384],"To":[154,182],"hand":[155],"tune":[156,370],"parameter":[158,376],"extremely":[162],"tedious":[163],"time":[165,322],"consuming":[166],"process.":[167,181],"Additionally,":[168],"current":[169,185,295],"tuning":[170,225],"practices":[171],"rely":[173],"subjective":[175],"measures":[176,302,315,330,345],"inform":[178,332],"fitting":[180],"address":[183],"obstacles":[186],"associated":[187],"tuning,":[192],"I":[193,252,292,308,336,340,363,386,413,434,480],"developed":[195,341],"novel":[196],"tools":[197],"overcome":[199],"some":[200],"issues":[203],"through":[204,268],"design":[206],"architectures":[209],"autonomously":[211],"adapt":[212],"based":[216,508,521],"upon":[217,533],"real-time":[218,232,353],"physiological":[219,301],"measures.":[220],"This":[221],"approach":[222],"frames":[223],"process":[226],"optimization":[233,354,368],"allows":[235],"co-adapt":[240],"wearer":[243],"during":[244],"use.":[245],"As":[246,454],"outcome":[248],"approaches,":[251],"been":[254,284],"able":[255,465],"investigate":[257],"qualities":[259],"controller":[263,394,422,487],"beneficial":[265],"users":[267,389],"analysis":[270],"whole":[272],"body":[273],"kinematics,":[274],"dynamics,":[275],"energetics.":[277],"The":[278,500],"framework":[279],"my":[281],"has":[283],"broken":[285],"down":[286],"into":[287],"four":[288,528],"major":[289],"projects.":[290],"First,":[291],"investigated":[293,387],"standards":[296],"processing":[298],"analyzing":[300,343],"could":[303],"improved":[305,532],"upon.":[306],"Specifically,":[307],"focused":[309],"analyze":[313],"non-steady-state":[314,344],"metabolic":[317,347,472],"rate":[319,349,474],"real":[321],"noise":[326],"content":[327],"theses":[329],"confidence":[333],"analyses.":[334],"Second,":[335],"applied":[337],"techniques":[339],"conduct":[351],"powered":[356],"bilateral":[357,428],"ankle":[358,429,445],"exoskeletons.":[359,430],"For":[360],"study":[362],"employed":[364],"gradient":[366],"descent":[367],"optimize":[372],"timing":[375],"simple":[379],"Third,":[385],"may":[390,484,512],"use":[391,485],"adaptive":[393,418],"where":[395],"they":[396],"had":[397],"direct":[400],"impact":[401],"adaptation":[404],"via":[405],"own":[407],"muscle":[408],"recruitment.":[409],"study,":[412],"tested":[416],"gain":[419],"proportional":[420],"myoelectric":[421],"subjects":[425,437,457,483],"Through":[431],"showed":[435],"adapted":[438],"using":[440],"increased":[441],"levels":[442],"total":[444],"power":[446,459],"compared":[447,475,481],"unpowered":[449,477],"devices.":[453],"result,":[456],"decreased":[458],"at":[460],"hip":[462],"were":[464],"achieve":[467],"decreases":[469],"walking.":[478],"Fourth,":[479],"driven":[488,495],"by":[489,496],"neural":[490,510],"signals":[491,511],"differently":[492],"than":[493,519],"one":[494],"mechanically":[497,523],"intrinsic":[498,524],"signals.":[499,525],"results":[501],"project":[504],"suggest":[505],"better":[514],"suited":[515],"therapeutic":[517],"rehabilitation":[518],"Together,":[526],"projects":[529],"drastically":[531],"clinical":[544],"setting.":[545]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2019-05-29T00:00:00"}
