{"id":"https://openalex.org/W4308994242","doi":"https://doi.org/10.1007/s10846-022-01763-5","title":"Trajectory Generation and Control of a Lower Limb Exoskeleton for Gait Assistance","display_name":"Trajectory Generation and Control of a Lower Limb Exoskeleton for Gait Assistance","publication_year":2022,"publication_date":"2022-11-01","ids":{"openalex":"https://openalex.org/W4308994242","doi":"https://doi.org/10.1007/s10846-022-01763-5"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-022-01763-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-022-01763-5","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5051343704","display_name":"Lincong Luo","orcid":"https://orcid.org/0000-0002-8457-7995"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lincong Luo","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065183422","display_name":"Ming Jeat Foo","orcid":"https://orcid.org/0000-0002-2827-9985"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Jeat Foo","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077871771","display_name":"Manoj Ramanathan","orcid":"https://orcid.org/0000-0001-5860-5342"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manoj Ramanathan","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007777444","display_name":"Jie Kai Er","orcid":"https://orcid.org/0000-0001-5538-6084"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jie Kai Er","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050425206","display_name":"Chye Hsia Chiam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chye Hsia Chiam","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103053297","display_name":"Li Lei","orcid":"https://orcid.org/0000-0003-3805-7179"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei Li","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057104857","display_name":"Wei\u2010Yun Yau","orcid":"https://orcid.org/0000-0001-5709-9169"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Yun Yau","raw_affiliation_strings":["Institute for Infocomm Research, A*STAR, Singapore, Singapore","Rehabilitation Research Institute of Singapore, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, A*STAR, Singapore, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002794481","display_name":"Wei Tech Ang","orcid":"https://orcid.org/0000-0002-5778-7719"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Tech Ang","raw_affiliation_strings":["Rehabilitation Research Institute of Singapore, Singapore, Singapore","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Rehabilitation Research Institute of Singapore, Singapore, Singapore","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5051343704"],"corresponding_institution_ids":[],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":1.6347,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.82420028,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"106","issue":"3","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":0.9998999834060669,"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":0.9998999834060669,"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":0.9944000244140625,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9199774265289307},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7677721977233887},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7273014783859253},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5893757343292236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47707903385162354},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4408533573150635},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.43389129638671875},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.4247279167175293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42222195863723755},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4169199764728546},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4115089774131775},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.3812605142593384},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36921894550323486},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2916337251663208},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.2738633155822754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1999305784702301},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17332205176353455},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10202008485794067}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9199774265289307},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7677721977233887},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7273014783859253},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5893757343292236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47707903385162354},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4408533573150635},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.43389129638671875},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.4247279167175293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42222195863723755},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4169199764728546},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4115089774131775},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.3812605142593384},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36921894550323486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2916337251663208},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2738633155822754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1999305784702301},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17332205176353455},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10202008485794067},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-022-01763-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-022-01763-5","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/170427","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/170427","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1977692237","https://openalex.org/W2034441309","https://openalex.org/W2047688129","https://openalex.org/W2066751209","https://openalex.org/W2070825536","https://openalex.org/W2090854043","https://openalex.org/W2099297971","https://openalex.org/W2102159351","https://openalex.org/W2114702494","https://openalex.org/W2121842283","https://openalex.org/W2133322641","https://openalex.org/W2136719407","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2207912390","https://openalex.org/W2289153276","https://openalex.org/W2509910711","https://openalex.org/W2586318065","https://openalex.org/W2588535899","https://openalex.org/W2770394012","https://openalex.org/W2770897917","https://openalex.org/W2801772516","https://openalex.org/W2810908822","https://openalex.org/W2891699026","https://openalex.org/W2906282529","https://openalex.org/W2913021892","https://openalex.org/W2946362902","https://openalex.org/W2965170325","https://openalex.org/W2969071609","https://openalex.org/W2977326683","https://openalex.org/W2995809611","https://openalex.org/W2998386195","https://openalex.org/W3008374781","https://openalex.org/W3043489203","https://openalex.org/W3183839786"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W2015794229","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2909774674"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}