{"id":"https://openalex.org/W2492237406","doi":"https://doi.org/10.1109/biorob.2016.7523765","title":"Optimal impedance control for robot-aided rehabilitation of walking based on estimation of patient behavior","display_name":"Optimal impedance control for robot-aided rehabilitation of walking based on estimation of patient behavior","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2492237406","doi":"https://doi.org/10.1109/biorob.2016.7523765","mag":"2492237406"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5050731114","display_name":"Wilian M. dos Santos","orcid":"https://orcid.org/0000-0001-6011-9968"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Wilian M. dos Santos","raw_affiliation_strings":["Center for Advanced Studies in Rehabilitation, Center for Robotics of S\u00e3o Carlos","Department of Mechanics Engineering, University of S\u00e3o Paulo (USP), S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Studies in Rehabilitation, Center for Robotics of S\u00e3o Carlos","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanics Engineering, University of S\u00e3o Paulo (USP), S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067208024","display_name":"Adriano A. G. Siqueira","orcid":"https://orcid.org/0000-0003-0663-156X"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Adriano A. G. Siqueira","raw_affiliation_strings":["Center for Advanced Studies in Rehabilitation, Center for Robotics of S\u00e3o Carlos","Department of Mechanics Engineering, University of S\u00e3o Paulo (USP), S\u00e3o Carlos, Brazil"],"affiliations":[{"raw_affiliation_string":"Center for Advanced Studies in Rehabilitation, Center for Robotics of S\u00e3o Carlos","institution_ids":[]},{"raw_affiliation_string":"Department of Mechanics Engineering, University of S\u00e3o Paulo (USP), S\u00e3o Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050731114"],"corresponding_institution_ids":["https://openalex.org/I17974374"],"apc_list":null,"apc_paid":null,"fwci":1.1966,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.78752987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1023","last_page":"1028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9962000250816345,"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":0.6752432584762573},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6253085136413574},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.62323397397995},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6213223934173584},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5508336424827576},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.530720591545105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5306904315948486},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48442748188972473},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47921258211135864},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.44247251749038696},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.44032612442970276},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.43798828125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41404205560684204},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36499857902526855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3605387508869171},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17822840809822083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14012348651885986},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1345934271812439},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11497992277145386}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6752432584762573},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6253085136413574},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.62323397397995},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6213223934173584},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5508336424827576},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.530720591545105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5306904315948486},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48442748188972473},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47921258211135864},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.44247251749038696},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.44032612442970276},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.43798828125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41404205560684204},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36499857902526855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3605387508869171},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17822840809822083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14012348651885986},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1345934271812439},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11497992277145386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W639661492","https://openalex.org/W1622752417","https://openalex.org/W1825041585","https://openalex.org/W1997932767","https://openalex.org/W2055952291","https://openalex.org/W2079917322","https://openalex.org/W2107195452","https://openalex.org/W2113265921","https://openalex.org/W2119349639","https://openalex.org/W2131292439","https://openalex.org/W2134704295","https://openalex.org/W2149085596","https://openalex.org/W2153918512","https://openalex.org/W2159746877","https://openalex.org/W4205467692"],"related_works":["https://openalex.org/W4310470578","https://openalex.org/W2507513082","https://openalex.org/W2139553966","https://openalex.org/W4385488335","https://openalex.org/W1551497311","https://openalex.org/W3128184504","https://openalex.org/W2319532081","https://openalex.org/W1968182683","https://openalex.org/W2974770895","https://openalex.org/W2668483002"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,49,78],"optimal":[4,19],"impedance":[5,29,76,101],"control":[6,71],"of":[7,13,26,31,86,103,141],"robotic":[8],"devices":[9],"designed":[10],"for":[11,107,138],"rehabilitation":[12],"walking":[14],"after":[15,95],"stroke.":[16],"The":[17,37,54],"proposed":[18,116],"solution":[20],"is":[21,40,72,92,128],"based":[22],"on":[23],"the":[24,32,35,43,50,62,68,83,87,100,104,108,115],"estimation":[25],"torque":[27,39],"and":[28,56,133],"parameters":[30,58,102],"patient":[33,69,122,132],"during":[34],"gait.":[36],"patient's":[38],"estimated":[41],"using":[42],"generalized":[44],"momenta-based":[45],"disturbance":[46],"observer":[47],"associated":[48],"Kalman":[51],"filter":[52],"algorithm.":[53],"stiffness":[55],"damping":[57],"are":[59,136],"determined":[60],"by":[61],"least":[63],"square":[64],"method,":[65],"considering":[66,120],"that":[67],"motor":[70],"modeled":[73],"as":[74,82],"an":[75,124],"control,":[77],"a":[79,121,139],"predefined":[80],"gait-pattern":[81],"desired":[84],"trajectory":[85],"joints.":[88],"An":[89],"optimization":[90],"procedure":[91],"then":[93],"performed":[94],"each":[96],"step":[97],"to":[98,113],"tune":[99],"actuators'":[105],"controller":[106],"next":[109],"step.":[110],"In":[111],"order":[112],"validate":[114],"approach,":[117],"simulation":[118],"results":[119],"wearing":[123],"active":[125],"hip/knee/ankle":[126],"orthosis":[127],"presented,":[129],"where":[130],"several":[131],"robot":[134],"conditions":[135],"evaluated":[137],"set":[140],"steps.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}