{"id":"https://openalex.org/W4395679170","doi":"https://doi.org/10.1109/amc58169.2024.10505443","title":"Adaptive Ground Clearance Control for Preparation for Fall in a Wearable Assistive Device","display_name":"Adaptive Ground Clearance Control for Preparation for Fall in a Wearable Assistive Device","publication_year":2024,"publication_date":"2024-02-28","ids":{"openalex":"https://openalex.org/W4395679170","doi":"https://doi.org/10.1109/amc58169.2024.10505443"},"language":"en","primary_location":{"id":"doi:10.1109/amc58169.2024.10505443","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/amc58169.2024.10505443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 18th International Conference on Advanced Motion Control (AMC)","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/A5062448413","display_name":"Jiancheng Nie","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jiancheng Nie","raw_affiliation_strings":["Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020943526","display_name":"Ming Jiang","orcid":"https://orcid.org/0000-0002-8935-3886"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ming Jiang","raw_affiliation_strings":["Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091763731","display_name":"Andrea Botta","orcid":"https://orcid.org/0000-0002-7272-7132"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Botta","raw_affiliation_strings":["Politecnico di Torino,Department of Mechanical and Aerospace Engineering,Torino,Italy","Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Mechanical and Aerospace Engineering,Torino,Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074862811","display_name":"Yusuke Sugahara","orcid":"https://orcid.org/0000-0003-0222-7180"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Sugahara","raw_affiliation_strings":["Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology,Department of Mechanical Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062448413"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0526587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/ground-reaction-force","display_name":"Ground reaction force","score":0.7617766857147217},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7484074234962463},{"id":"https://openalex.org/keywords/assistive-device","display_name":"Assistive device","score":0.7074331045150757},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6411874294281006},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5226280689239502},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5203261375427246},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5125517845153809},{"id":"https://openalex.org/keywords/fall-prevention","display_name":"Fall prevention","score":0.4305611848831177},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35298311710357666},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.31147652864456177},{"id":"https://openalex.org/keywords/poison-control","display_name":"Poison control","score":0.2698296308517456},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20618855953216553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19113770127296448},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1407148241996765},{"id":"https://openalex.org/keywords/human-factors-and-ergonomics","display_name":"Human factors and ergonomics","score":0.12987974286079407},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11342421174049377},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08219215273857117},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0779978334903717}],"concepts":[{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.7617766857147217},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7484074234962463},{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.7074331045150757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6411874294281006},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5226280689239502},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5203261375427246},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5125517845153809},{"id":"https://openalex.org/C2776516907","wikidata":"https://www.wikidata.org/wiki/Q5432181","display_name":"Fall prevention","level":4,"score":0.4305611848831177},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35298311710357666},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.31147652864456177},{"id":"https://openalex.org/C3017944768","wikidata":"https://www.wikidata.org/wiki/Q1450463","display_name":"Poison control","level":2,"score":0.2698296308517456},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20618855953216553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19113770127296448},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1407148241996765},{"id":"https://openalex.org/C166735990","wikidata":"https://www.wikidata.org/wiki/Q1750812","display_name":"Human factors and ergonomics","level":3,"score":0.12987974286079407},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11342421174049377},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08219215273857117},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0779978334903717},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/amc58169.2024.10505443","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/amc58169.2024.10505443","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 18th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0006298388","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100915002","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of 2024 IEEE 18th International Conference on Advanced Motion Control (AMC)","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1980724410","https://openalex.org/W1998648360","https://openalex.org/W2076179274","https://openalex.org/W2088381757","https://openalex.org/W2102224640","https://openalex.org/W2123033454","https://openalex.org/W2123430619","https://openalex.org/W2130766400","https://openalex.org/W2131600383","https://openalex.org/W2136970342","https://openalex.org/W2138136244","https://openalex.org/W2153624629","https://openalex.org/W2539915646","https://openalex.org/W2734430656","https://openalex.org/W3130381353","https://openalex.org/W4255167014","https://openalex.org/W4285119202","https://openalex.org/W4312036204","https://openalex.org/W4388720585","https://openalex.org/W6633020241"],"related_works":["https://openalex.org/W2042469328","https://openalex.org/W2109413986","https://openalex.org/W2044431058","https://openalex.org/W2294565841","https://openalex.org/W2168391379","https://openalex.org/W2687475122","https://openalex.org/W4223456361","https://openalex.org/W3204276839","https://openalex.org/W4236178311","https://openalex.org/W4286784045"],"abstract_inverted_index":{"Reducing":[0],"the":[1,8,24,27,30,34,62,70,76,88,96,104,113,124,129,133,149,164,181,189],"risks":[2],"of":[3,7,33,78,90,183],"falls":[4,20,79],"is":[5,41,73],"one":[6],"main":[9],"tasks":[10],"for":[11,52,110,195],"walking":[12,47,101,126,136],"assistive":[13,35,105],"devices.":[14],"Some":[15],"elderly":[16],"people":[17],"who":[18],"fear":[19],"tend":[21],"to":[22,44,64,94,148,171,187,193],"lower":[23],"distance":[25,169],"between":[26],"ground":[28,71,92,97,114,174],"and":[29,48,185,192],"support":[31,58],"tip":[32],"device":[36,106,143],"(ground":[37],"clearance),":[38],"but":[39],"it":[40],"very":[42],"easy":[43],"obstruct":[45],"their":[46,53,66],"also":[49,81],"not":[50],"good":[51],"health":[54],"by":[55],"always":[56,108],"providing":[57],"because":[59],"they":[60],"lose":[61],"opportunities":[63],"use":[65],"muscles.":[67],"However,":[68],"if":[69],"clearance":[72,93,98,175],"too":[74],"large,":[75],"risk":[77],"would":[80],"increase.":[82],"In":[83],"this":[84],"paper,":[85],"we":[86],"introduced":[87],"concept":[89],"adaptive":[91],"adjust":[95],"dynamically":[99],"during":[100,135],"so":[102],"that":[103],"can":[107,137],"prepare":[109,194],"falls.":[111,196],"First,":[112],"reaction":[115,190],"forces":[116],"on":[117,123,132,163],"two":[118],"feet":[119],"are":[120],"modeled":[121],"based":[122],"symmetry":[125],"assumption.":[127],"Thus,":[128],"vertical":[130,153],"motion":[131],"hip":[134,152],"be":[138],"estimated.":[139],"Second,":[140],"a":[141,156,167],"wearable":[142],"prototype":[144],"was":[145,161],"built":[146],"according":[147],"information":[150],"about":[151],"displacement.":[154],"Finally,":[155],"PID":[157],"position":[158],"control":[159],"method":[160],"implemented":[162],"prototype,":[165],"using":[166],"low-cost":[168],"sensor":[170],"enable":[172],"real-time":[173],"adjustment.":[176],"This":[177],"work":[178],"may":[179],"inspire":[180],"design":[182],"rollators":[184],"walkers":[186],"reduce":[188],"time":[191]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}