{"id":"https://openalex.org/W4319789577","doi":"https://doi.org/10.1007/s11044-023-09877-w","title":"Multibody dynamics and optimal control for optimizing spinal exoskeleton design and support","display_name":"Multibody dynamics and optimal control for optimizing spinal exoskeleton design and support","publication_year":2023,"publication_date":"2023-02-07","ids":{"openalex":"https://openalex.org/W4319789577","doi":"https://doi.org/10.1007/s11044-023-09877-w"},"language":"en","primary_location":{"id":"doi:10.1007/s11044-023-09877-w","doi":"https://doi.org/10.1007/s11044-023-09877-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11044-023-09877-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11044-023-09877-w.pdf","source":{"id":"https://openalex.org/S108863518","display_name":"Multibody System Dynamics","issn_l":"1384-5640","issn":["1384-5640","1573-272X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Multibody System Dynamics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s11044-023-09877-w.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037962606","display_name":"Monika Harant","orcid":"https://orcid.org/0000-0003-4518-4694","observed_orcids":["https://orcid.org/0000-0003-4518-4694"]},"institutions":[{"id":"https://openalex.org/I3019415892","display_name":"Fraunhofer Institute for Industrial Mathematics","ror":"https://ror.org/019hjw009","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3019415892","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Monika Harant","raw_affiliation_strings":["Mathematics for the Digital Factory, Fraunhofer Institute for Industrial Mathematics, Fraunhofer-Platz 1, 67663, Kaiserslautern, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4518-4694","affiliations":[{"raw_affiliation_string":"Mathematics for the Digital Factory, Fraunhofer Institute for Industrial Mathematics, Fraunhofer-Platz 1, 67663, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I3019415892"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006684330","display_name":"Matthias B. N\u00e4f","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Matthias B. N\u00e4f","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Pleinlaan 2, 1050, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943","observed_orcids":["https://orcid.org/0000-0003-1353-0943"]},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["CERC Human-Centred Robotics and Machine Intelligence, University of Waterloo, 200 University Avenue West, N2L 3G1, Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CERC Human-Centred Robotics and Machine Intelligence, University of Waterloo, 200 University Avenue West, N2L 3G1, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037962606"],"corresponding_institution_ids":["https://openalex.org/I3019415892"],"apc_list":{"value":3690,"currency":"USD","value_usd":3690},"apc_paid":{"value":3690,"currency":"USD","value_usd":3690},"fwci":0.8703,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.65319502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"57","issue":"3-4","first_page":"389","last_page":"411"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9937000274658203,"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":0.9937000274658203,"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":0.002199999988079071,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0010000000474974513,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/heavy-lifting","display_name":"heavy lifting","score":0.6370000243186951},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.7960000038146973},{"id":"https://openalex.org/keywords/multibody-dynamics","display_name":"multibody dynamics","score":0.8840000033378601},{"id":"https://openalex.org/keywords/optimal-control","display_name":"optimal control","score":0.9980000257492065},{"id":"https://openalex.org/keywords/passive-components","display_name":"passive components","score":0.5519999861717224},{"id":"https://openalex.org/keywords/muscle-activation","display_name":"muscle activation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/joint-moments","display_name":"joint moments","score":0.8740000128746033},{"id":"https://openalex.org/keywords/comfort-constraints","display_name":"comfort constraints","score":0.5},{"id":"https://openalex.org/keywords/industrial-workers","display_name":"industrial workers","score":0.32600000500679016}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.959973156452179},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6774054765701294},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.6118422746658325},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49701622128486633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47950464487075806},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4567561745643616},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.45569175481796265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43915697932243347},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4291943311691284},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4284785985946655},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18138638138771057},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s11044-023-09877-w","doi":"https://doi.org/10.1007/s11044-023-09877-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11044-023-09877-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11044-023-09877-w.pdf","source":{"id":"https://openalex.org/S108863518","display_name":"Multibody System Dynamics","issn_l":"1384-5640","issn":["1384-5640","1573-272X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Multibody System Dynamics","raw_type":"journal-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:164696","doi":null,"is_oa":true,"landing_page_url":"https://biblio.vub.ac.be/vubir/multibody-dynamics-and-optimal-control-for-optimizing-spinal-exoskeleton-design-and-support(4db2bc38-b696-4a4a-aa12-283f8205c13c).html","pdf_url":"https://biblio.vub.ac.be/vubirfiles/94167798/s11044_023_09877_w.pdf","source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/442166","doi":null,"is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/442166","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"journal article"}],"best_oa_location":{"id":"doi:10.1007/s11044-023-09877-w","doi":"https://doi.org/10.1007/s11044-023-09877-w","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s11044-023-09877-w","pdf_url":"https://link.springer.com/content/pdf/10.1007/s11044-023-09877-w.pdf","source":{"id":"https://openalex.org/S108863518","display_name":"Multibody System Dynamics","issn_l":"1384-5640","issn":["1384-5640","1573-272X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Multibody System Dynamics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G6270786382","display_name":null,"funder_award_id":"687662","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319789577.pdf","grobid_xml":"https://content.openalex.org/works/W4319789577.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W355330432","https://openalex.org/W618254468","https://openalex.org/W1501180370","https://openalex.org/W1649582364","https://openalex.org/W1966571873","https://openalex.org/W1997861712","https://openalex.org/W2012518715","https://openalex.org/W2032704883","https://openalex.org/W2037044498","https://openalex.org/W2037086910","https://openalex.org/W2051741641","https://openalex.org/W2057298270","https://openalex.org/W2058048394","https://openalex.org/W2082622400","https://openalex.org/W2094023420","https://openalex.org/W2108394619","https://openalex.org/W2136416174","https://openalex.org/W2137610942","https://openalex.org/W2198775391","https://openalex.org/W2423857766","https://openalex.org/W2577593902","https://openalex.org/W2586649284","https://openalex.org/W2605564084","https://openalex.org/W2700163520","https://openalex.org/W2753828271","https://openalex.org/W2771030923","https://openalex.org/W2807119323","https://openalex.org/W2888600033","https://openalex.org/W2940415590","https://openalex.org/W2989935614","https://openalex.org/W3017491646","https://openalex.org/W3045778318","https://openalex.org/W3126649335","https://openalex.org/W3204835165","https://openalex.org/W4211184909","https://openalex.org/W4285102652","https://openalex.org/W4297095242"],"related_works":["https://openalex.org/W4211184909","https://openalex.org/W4312595411","https://openalex.org/W2783804000","https://openalex.org/W4221036525","https://openalex.org/W4388873644","https://openalex.org/W1649582364","https://openalex.org/W4309646573","https://openalex.org/W4403748833","https://openalex.org/W4416588075","https://openalex.org/W4400982113"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"the":[2,17,22,25,53,87,105,112,143,146,156,164,168,172,182,190,194,211,226],"industrial":[3],"work":[4],"environment,":[5],"spinal":[6],"exoskeletons":[7],"can":[8,67],"assist":[9],"workers":[10],"with":[11,37,82,120,207],"heavy":[12],"lifting":[13],"tasks":[14],"by":[15],"reducing":[16],"needed":[18],"muscle":[19,201],"activity.":[20],"However,":[21],"requirements":[23],"for":[24,69,125],"design":[26,98,221],"and":[27,41,94,133,200,222,224,234],"control":[28,84],"of":[29,61,90,111,145,155,160,166,171,228],"such":[30],"an":[31,91,136],"exoskeleton":[32,183,191,220],"to":[33,85,186,218],"optimally":[34],"support":[35,88,223],"users":[36],"different":[38,62,229],"body":[39,55],"builds":[40],"movement":[42],"styles":[43],"are":[44],"still":[45],"open":[46],"research":[47],"questions.":[48],"Thus,":[49],"extensive":[50],"testing":[51],"on":[52,177],"human":[54],"is":[56],"needed,":[57],"requiring":[58],"a":[59,96,215],"lot":[60],"sophisticated":[63],"prototypes":[64],"that":[65,101,123,141,181],"subjects":[66],"wear":[68],"several":[70],"hours.":[71],"To":[72],"facilitate":[73],"this":[74],"development":[75],"process,":[76],"we":[77],"use":[78],"multibody":[79],"dynamics":[80],"combined":[81],"optimal":[83],"optimize":[86,219],"profile":[89],"existing":[92],"prototype":[93,113],"evaluate":[95,225],"new":[97],"concept":[99],"(DC)":[100],"includes":[102],"motors":[103,173],"at":[104],"hip":[106],"joint.":[107],"A":[108],"dynamic":[109],"model":[110],"was":[114,131],"developed,":[115],"including":[116],"its":[117],"passive":[118,147],"elements":[119,148],"torque":[121,169],"generation":[122],"accounts":[124],"potential":[126],"misalignment.":[127],"The":[128,139],"human-robot":[129],"interaction":[130,178],"simulated":[132],"optimized":[134],"in":[135,163],"all-at-once":[137],"approach.":[138],"parameters":[140],"describe":[142],"characteristics":[144],"(including":[149],"beam":[150],"radius,":[151],"spring":[152],"pretension,":[153],"length":[154],"lever":[157],"arm,":[158],"radius":[159],"profile)":[161],"and,":[162],"case":[165],"DC,":[167],"profiles":[170],"were":[174],"optimized.":[175],"Limits":[176],"forces":[179],"ensured":[180],"remains":[184],"comfortable":[185],"wear.":[187],"Simulations":[188],"without":[189],"allowed":[192],"comparing":[193],"user\u2019s":[195],"actuation":[196,230],"concerning":[197],"joint":[198],"moment":[199],"activation.":[202],"Our":[203],"results":[204],"agree":[205],"well":[206],"experimental":[208],"data":[209],"using":[210],"prototype,":[212],"making":[213],"it":[214],"useful":[216],"tool":[217],"effect":[227],"systems,":[231],"mass":[232],"distributions,":[233],"comfort":[235],"requirements.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-09-11T09:22:31.653822","created_date":"2023-02-11T00:00:00"}