{"id":"https://openalex.org/W2151507567","doi":"https://doi.org/10.1109/acc.2008.4586561","title":"Closed-loop system identification of ankle dynamics using a subspace method with reference input as instrumental variable","display_name":"Closed-loop system identification of ankle dynamics using a subspace method with reference input as instrumental variable","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2151507567","doi":"https://doi.org/10.1109/acc.2008.4586561","mag":"2151507567"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2008.4586561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4586561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-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/A5100702069","display_name":"Yong Zhao","orcid":"https://orcid.org/0000-0002-7062-456X"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Y. Zhao","raw_affiliation_strings":["Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047581083","display_name":"Daniel Ludvig","orcid":"https://orcid.org/0000-0003-0268-6686"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D. Ludvig","raw_affiliation_strings":["Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024458992","display_name":"Robert E. Kearney","orcid":"https://orcid.org/0000-0002-5107-6190"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. E. Kearney","raw_affiliation_strings":["Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, McGill University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7504,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75423552,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"619","last_page":"624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9958000183105469,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9958000183105469,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11236","display_name":"Control Systems and Identification","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8694416284561157},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6981204748153687},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.6880022287368774},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6602962017059326},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.6336075067520142},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4864825904369354},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47218194603919983},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47064536809921265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43197867274284363},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4142003059387207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34335336089134216},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22371026873588562},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.176047682762146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1267123520374298},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.11376559734344482},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07571405172348022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07344257831573486}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8694416284561157},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6981204748153687},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.6880022287368774},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6602962017059326},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.6336075067520142},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4864825904369354},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47218194603919983},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47064536809921265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43197867274284363},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4142003059387207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34335336089134216},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22371026873588562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.176047682762146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1267123520374298},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.11376559734344482},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07571405172348022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07344257831573486},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2008.4586561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4586561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1490036603","https://openalex.org/W1965324089","https://openalex.org/W2059942279","https://openalex.org/W2108817934","https://openalex.org/W2109583028","https://openalex.org/W2129444142","https://openalex.org/W2137048182","https://openalex.org/W2153843379","https://openalex.org/W2753164991","https://openalex.org/W2798909945","https://openalex.org/W4293738470"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2320156573","https://openalex.org/W1480508098","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573"],"abstract_inverted_index":{"Joint":[0,34],"stiffness,":[1,44],"the":[2,6,13,23,27,58,77,84,87,114,133,158,167],"dynamic":[3,24],"relationship":[4],"between":[5],"angular":[7],"position":[8,85],"of":[9,26,86,135],"a":[10,62,104],"joint":[11,66],"and":[12,32,42,50,110,162],"torque":[14,78,116],"acting":[15],"about":[16],"it,":[17],"can":[18,36,68],"be":[19,37,69],"used":[20,130,147],"to":[21,82,107,131,152],"describe":[22],"behavior":[25],"human":[28],"ankle":[29,59],"during":[30],"posture":[31],"movement.":[33],"stiffness":[35,41,67,112],"separated":[38],"into":[39],"intrinsic":[40,109],"reflex":[43,111],"which":[45],"are":[46],"modeled":[47],"as":[48,71,148],"linear":[49],"LNL":[51],"systems,":[52],"respectively.":[53],"For":[54],"most":[55],"functional":[56],"tasks,":[57],"interacts":[60],"with":[61],"compliant":[63],"load.":[64],"The":[65,142],"viewed":[70],"being":[72],"operated":[73],"in":[74,118],"closed-loop":[75],"because":[76],"is":[79,129,146],"fed":[80,155],"back":[81,156],"change":[83],"ankle.":[88],"Consequently,":[89],"standard":[90],"open":[91],"loop":[92],"identification":[93,127],"methods":[94],"will":[95],"give":[96],"biased":[97],"results.":[98,171],"In":[99],"this":[100],"paper,":[101],"we":[102],"present":[103],"new":[105],"method":[106,128,168],"estimate":[108,132],"from":[113,139],"total":[115],"measured":[117,140],"closed-loop.":[119],"A":[120],"MOESP":[121],"(multivariable":[122],"output-error":[123],"state-space)":[124],"subspace":[125],"system":[126],"dynamics":[134],"each":[136],"pathway":[137],"directly":[138],"data.":[141],"past":[143],"reference":[144],"input":[145],"an":[149],"instrumental":[150],"variable":[151],"eliminate":[153],"noise":[154],"via":[157],"controller":[159],"loop.":[160],"Simulation":[161],"experimental":[163],"studies":[164],"demonstrate":[165],"that":[166],"produces":[169],"accurate":[170]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}