{"id":"https://openalex.org/W1965448907","doi":"https://doi.org/10.1017/s0263574714000125","title":"Joint role exploration in sagittal balance by optimizing feedback gains","display_name":"Joint role exploration in sagittal balance by optimizing feedback gains","publication_year":2014,"publication_date":"2014-01-31","ids":{"openalex":"https://openalex.org/W1965448907","doi":"https://doi.org/10.1017/s0263574714000125","mag":"1965448907"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714000125","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000125","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5101684094","display_name":"Dengpeng Xing","orcid":"https://orcid.org/0000-0002-8251-9118"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dengpeng Xing","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation Chinese Academy of Sciences  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences  Beijing China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084573070","display_name":"Jianbo Su","orcid":"https://orcid.org/0000-0001-6931-5842"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Su","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China","[Department of Automation, Shanghai Jiao Tong University, Shanghai, China.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"[Department of Automation, Shanghai Jiao Tong University, Shanghai, China.]","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101684094"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.1771565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"33","issue":"1","first_page":"127","last_page":"139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9803000092506409,"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/control-theory","display_name":"Control theory (sociology)","score":0.661981999874115},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5401453375816345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5076333284378052},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.49739840626716614},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4964063763618469},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4895128011703491},{"id":"https://openalex.org/keywords/squat","display_name":"Squat","score":0.47659748792648315},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.45832952857017517},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.4413440227508545},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32308363914489746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24665632843971252},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2154562771320343},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14582011103630066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11390259861946106},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09772193431854248},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07795679569244385}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.661981999874115},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5401453375816345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5076333284378052},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.49739840626716614},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4964063763618469},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4895128011703491},{"id":"https://openalex.org/C2778820510","wikidata":"https://www.wikidata.org/wiki/Q1755746","display_name":"Squat","level":2,"score":0.47659748792648315},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.45832952857017517},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.4413440227508545},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32308363914489746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24665632843971252},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2154562771320343},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14582011103630066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11390259861946106},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09772193431854248},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07795679569244385},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714000125","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714000125","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W105581013","https://openalex.org/W1982850972","https://openalex.org/W1982991768","https://openalex.org/W1990810535","https://openalex.org/W2001165022","https://openalex.org/W2005609567","https://openalex.org/W2011845777","https://openalex.org/W2022144657","https://openalex.org/W2032373177","https://openalex.org/W2075913979","https://openalex.org/W2099069220","https://openalex.org/W2115320056","https://openalex.org/W2122458271","https://openalex.org/W2132130138","https://openalex.org/W2148820543","https://openalex.org/W2155005770","https://openalex.org/W2158194084","https://openalex.org/W2167633283","https://openalex.org/W2170661833","https://openalex.org/W2314716714","https://openalex.org/W2541047558","https://openalex.org/W4205985701","https://openalex.org/W4236771684","https://openalex.org/W6604225776","https://openalex.org/W6682922595"],"related_works":["https://openalex.org/W2035481409","https://openalex.org/W2989749062","https://openalex.org/W1545335609","https://openalex.org/W3147031369","https://openalex.org/W1968508013","https://openalex.org/W1942947904","https://openalex.org/W1969283265","https://openalex.org/W2023030663","https://openalex.org/W1482930585","https://openalex.org/W2324649015"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,94,149],"investigates":[3],"the":[4,58,63,68,70,79,122,135,142,152,169,174],"contributions":[5,153],"of":[6,60,91,99,137,145,154],"each":[7,61,146,155],"joint":[8,156],"in":[9,28,43,130],"perturbed":[10,158],"balance":[11,15,45],"by":[12],"employing":[13],"multiple":[14],"strategies":[16,129],"and":[17,33,78,81,104,109,117,126,140,178],"exploring":[18],"gain":[19],"scheduling.":[20],"Hybrid":[21],"controllers":[22,111],"are":[23],"developed":[24],"for":[25,112],"sagittal":[26],"standing":[27,44,131],"response":[29],"to":[30,67,121,157,167],"constant":[31],"pushes,":[32],"a":[34,96,100,107],"hypothesis":[35],"is":[36,164],"then":[37],"investigated":[38],"that":[39],"postural":[40],"feedback":[41,143],"gains":[42,144],"should":[46],"change":[47],"with":[48],"perturbation":[49],"size":[50],"via":[51],"an":[52,88],"optimization":[53,89],"approach.":[54],"Related":[55],"research":[56],"indicates":[57],"roles":[59],"joint:":[62],"ankles":[64],"apply":[65],"torque":[66],"ground,":[69],"hips":[71,82],"and/or":[72],"arms":[73],"generate":[74],"horizontal":[75,97],"ground":[76],"forces,":[77],"knees":[80],"squat.":[83],"To":[84],"investigate":[85],"it":[86],"from":[87],"point":[90],"view,":[92],"this":[93,148,162],"uses":[95],"push":[98,114],"given":[101],"size,":[102],"direction,":[103],"location":[105],"as":[106,173],"perturbation,":[108],"optimizes":[110],"different":[113],"sizes,":[115],"directions,":[116],"locations.":[118],"It":[119],"applies":[120],"ankle,":[123],"hip,":[124],"squat,":[125],"arm":[127],"swinging":[128],"balance.":[132,159],"By":[133],"comparing":[134],"capability":[136],"handling":[138],"disturbances":[139],"investigating":[141],"strategy,":[147],"quantitatively":[150],"analyzes":[151],"We":[160],"believe":[161],"work":[163],"also":[165],"instructive":[166],"study":[168],"progressive":[170],"behavioral":[171],"changes":[172],"model":[175],"gets":[176],"more":[177,179],"complex.":[180]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}