{"id":"https://openalex.org/W4386138698","doi":"https://doi.org/10.1017/s0263574723001030","title":"Phase oscillator optimization eliminates jittering during transition gaits in multimodal locomotion assisted by a portable hip exoskeleton","display_name":"Phase oscillator optimization eliminates jittering during transition gaits in multimodal locomotion assisted by a portable hip exoskeleton","publication_year":2023,"publication_date":"2023-08-24","ids":{"openalex":"https://openalex.org/W4386138698","doi":"https://doi.org/10.1017/s0263574723001030"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001030","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723001030","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/A5100643765","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0002-8177-1071"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["College of Mechanical Engineering, Zhejiang University, Hangzhou, China","Ningbo Innovation Center, Zhejiang University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0002-8177-1071","affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Innovation Center, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071739985","display_name":"Zehao Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehao Yan","raw_affiliation_strings":["College of Mechanical Engineering, Zhejiang University, Hangzhou, China","Ningbo Innovation Center, Zhejiang University, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Innovation Center, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074066462","display_name":"Linfan Yu","orcid":"https://orcid.org/0000-0002-9460-4600"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linfan Yu","raw_affiliation_strings":["College of Mechanical Engineering, Zhejiang University, Hangzhou, China","Ningbo Innovation Center, Zhejiang University, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Innovation Center, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023570934","display_name":"Linghui Xu","orcid":"https://orcid.org/0000-0001-8489-2920"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linghui Xu","raw_affiliation_strings":["College of Mechanical Engineering, Zhejiang University, Hangzhou, China","Ningbo Innovation Center, Zhejiang University, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Ningbo Innovation Center, Zhejiang University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100390113","display_name":"Xiaoguang Liu","orcid":"https://orcid.org/0000-0002-0935-3094"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiaoguang Liu","raw_affiliation_strings":["Spinal Cord Injury Rehabilitation Department, Ningbo Rehabilitation Hospital, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spinal Cord Injury Rehabilitation Department, Ningbo Rehabilitation Hospital, Ningbo, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021494299","display_name":"Canjun Yang","orcid":"https://orcid.org/0000-0002-3712-0538"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Canjun Yang","raw_affiliation_strings":["College of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100390113"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.486,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58725424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"41","issue":"11","first_page":"3349","last_page":"3360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9954000115394592,"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":0.9771000146865845,"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/gait","display_name":"Gait","score":0.8357659578323364},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7797549962997437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.577045738697052},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.5524783730506897},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5515598058700562},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.5362291932106018},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5153769850730896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38683652877807617},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2658553421497345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25169995427131653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19965872168540955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17976510524749756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17960038781166077},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06755012273788452}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8357659578323364},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7797549962997437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.577045738697052},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.5524783730506897},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5515598058700562},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.5362291932106018},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5153769850730896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38683652877807617},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2658553421497345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25169995427131653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19965872168540955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17976510524749756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17960038781166077},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06755012273788452},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001030","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723001030","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1991235214","https://openalex.org/W2066204645","https://openalex.org/W2090054175","https://openalex.org/W2094532097","https://openalex.org/W2346991801","https://openalex.org/W2528868074","https://openalex.org/W2590963235","https://openalex.org/W2594043787","https://openalex.org/W2609988131","https://openalex.org/W2700163520","https://openalex.org/W2762724310","https://openalex.org/W2891699026","https://openalex.org/W2901258812","https://openalex.org/W2967902380","https://openalex.org/W2982586672","https://openalex.org/W2996775387","https://openalex.org/W2998400386","https://openalex.org/W3009028912","https://openalex.org/W3012841673","https://openalex.org/W3014756198","https://openalex.org/W3110058148","https://openalex.org/W3130807160","https://openalex.org/W3135449185","https://openalex.org/W3148074603","https://openalex.org/W3166484624","https://openalex.org/W3166976126","https://openalex.org/W3185614109","https://openalex.org/W3205872391","https://openalex.org/W4214597206","https://openalex.org/W4220873596","https://openalex.org/W4226377401","https://openalex.org/W4233297674","https://openalex.org/W4285613364","https://openalex.org/W4327663266","https://openalex.org/W6744962805"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W4382583006","https://openalex.org/W4210601529","https://openalex.org/W2947640409"],"abstract_inverted_index":{"Abstract":[0],"To":[1],"be":[2,11],"successfully":[3],"used":[4],"in":[5,45,87,120,134,216,225,242],"daily":[6],"life":[7],"situations,":[8],"exoskeletons":[9,67],"should":[10],"effective":[12],"across":[13],"multimodal":[14,88,121],"scenarios,":[15],"including":[16],"walking":[17,38,194],"on":[18],"various":[19],"terrains,":[20],"and":[21,132,155,169,178,190,200,247],"transitions":[22],"between":[23,167],"locomotion":[24,53,122],"modes":[25],"such":[26],"as":[27],"walking-to-stop.":[28],"Correct":[29],"continuous":[30],"gait":[31,46,56,81],"phase":[32,47,57,75,82,99],"estimation":[33,48,58],"is":[34,59,91,107],"essential":[35],"for":[36,49,117,146,173,187,245],"high-level":[37],"assistance":[39],"control.":[40],"Despite":[41],"the":[42,64,80,95,98,161,183,208,226,232],"impressive":[43],"advances":[44],"a":[50,101,140,165,222],"variety":[51],"of":[52,66,115,142,160,210,228,250],"modes,":[54],"transition":[55,85,111,118,147],"rarely":[60],"researched,":[61],"leading":[62],"to":[63,93,109,204],"jittering":[65,184,229],"during":[68,84,150],"walking-to-stop":[69],"transitions.":[70],"We":[71],"propose":[72],"an":[73],"optimized":[74],"oscillator":[76],"(PO-opt)":[77],"that":[78,139,164],"estimates":[79],"correctly":[83],"gaits":[86,119,148],"locomotion,":[89],"which":[90,128],"beneficial":[92],"eliminating":[94],"jittering.":[96],"In":[97,181],"plane,":[100],"lateral":[102],"axis":[103],"extreme":[104],"difference":[105],"(LAED)":[106],"adopted":[108],"classify":[110],"gaits.":[112],"The":[113,219,237],"threshold":[114,141,166,209],"LAED":[116,211],"was":[123,129,144,171,212,235],"preliminarily":[124],"determined":[125],"by":[126],"simulation,":[127],"then":[130],"applied":[131],"validated":[133],"experiments.":[135],"Simulation":[136],"results":[137,159,220],"indicated":[138,221],"15.0":[143,215],"suitable":[145],"classification":[149],"treadmill":[151,174,193],"walking,":[152,154,175,177],"free":[153,176],"ramp":[156],"ascent/descent,":[157],"while":[158],"experiment":[162],"showed":[163],"6.5":[168],"10.5":[170],"applicable":[172],"stair":[179],"ascent/descent.":[180],"particular,":[182],"elimination":[185,230],"rates":[186],"3,":[188],"4,":[189],"5":[191],"km/h":[192],"were":[195],"improved":[196],"from":[197],"29%,":[198],"21%,":[199],"4%":[201],"(PO":[202],"model)":[203],"100%,":[205],"respectively,":[206],"when":[207,231],"set":[213],"at":[214],"PO-opt":[217,233],"model.":[218],"significant":[223],"increase":[224],"rate":[227],"model":[234,238],"applied.":[236],"holds":[239],"great":[240],"promise":[241],"real-world":[243],"applications":[244],"prostheses":[246],"other":[248],"types":[249],"exoskeletons.":[251]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}