{"id":"https://openalex.org/W2949668652","doi":"https://doi.org/10.1109/biorob.2018.8487216","title":"Identifying Gait Phases from Joint Kinematics during Walking with Switched Linear Dynamical Systems","display_name":"Identifying Gait Phases from Joint Kinematics during Walking with Switched Linear Dynamical Systems","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2949668652","doi":"https://doi.org/10.1109/biorob.2018.8487216","mag":"2949668652"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2018.8487216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th 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/A5027485016","display_name":"Luke Drnach","orcid":"https://orcid.org/0000-0002-9908-8641"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luke Drnach","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070348998","display_name":"Irfan Essa","orcid":"https://orcid.org/0000-0002-6236-2969"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Irfan Essa","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022013226","display_name":"Lena H. Ting","orcid":"https://orcid.org/0000-0001-6854-9444"},"institutions":[{"id":"https://openalex.org/I150468666","display_name":"Emory University","ror":"https://ror.org/03czfpz43","country_code":"US","type":"education","lineage":["https://openalex.org/I150468666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lena H. Ting","raw_affiliation_strings":["Emory University, Atlanta, GA, 30322, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Emory University, Atlanta, GA, 30322, USA","institution_ids":["https://openalex.org/I150468666"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7326,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87519204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"13","issue":null,"first_page":"1181","last_page":"1186"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9983999729156494,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9973000288009644,"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/gait","display_name":"Gait","score":0.8977522850036621},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8024864792823792},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.6284791231155396},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.554222822189331},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.4729820489883423},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4602895975112915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4548438787460327},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14897239208221436},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.12526050209999084},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09799700975418091}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8977522850036621},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8024864792823792},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.6284791231155396},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.554222822189331},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.4729820489883423},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4602895975112915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4548438787460327},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14897239208221436},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.12526050209999084},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09799700975418091},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2018.8487216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th 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/17","score":0.4399999976158142,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311274","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1972648810","https://openalex.org/W1981010871","https://openalex.org/W2027176182","https://openalex.org/W2041278045","https://openalex.org/W2100955016","https://openalex.org/W2110935301","https://openalex.org/W2111697356","https://openalex.org/W2112295121","https://openalex.org/W2112477260","https://openalex.org/W2125838338","https://openalex.org/W2163827495","https://openalex.org/W2167788047","https://openalex.org/W2187089797","https://openalex.org/W2197966930","https://openalex.org/W2397313678","https://openalex.org/W2803381593","https://openalex.org/W2911689867","https://openalex.org/W6676977166","https://openalex.org/W6712634572"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2461945684","https://openalex.org/W2947640409","https://openalex.org/W4210601529","https://openalex.org/W2390631805","https://openalex.org/W1995781834","https://openalex.org/W2803913909","https://openalex.org/W2729676947","https://openalex.org/W4379933302","https://openalex.org/W2328573683"],"abstract_inverted_index":{"Human-robot":[0],"interaction":[1],"(HRI)":[2],"for":[3,14,101,189,193,201],"gait":[4,10,15,18,27,38,48,84,87,119,133,153,168,176,180,183,198,211],"rehabilitation":[5],"would":[6],"benefit":[7],"from":[8,63],"data-driven":[9],"models":[11,28,99],"that":[12,97,150,177],"account":[13],"phases":[16,85,88,154,181],"and":[17,40,73,111,182],"dynamics.":[19,184],"Here":[20],"we":[21],"address":[22],"the":[23,82,105,113,117,147],"current":[24],"limitation":[25],"in":[26,107,203],"driven":[29],"by":[30,77,158,199],"kinematic":[31,61],"data,":[32],"which":[33],"do":[34],"not":[35,42],"model":[36,58],"interlimb":[37],"dynamics":[39],"have":[41,155],"been":[43,156],"shown":[44],"to":[45,57,86,205,209],"precisely":[46,207],"identify":[47],"events.":[49],"We":[50,80,95],"used":[51],"Switched":[52],"Linear":[53],"Dynamical":[54],"Systems":[55],"(SLDS)":[56],"joint":[59,109,114],"angle":[60,110],"data":[62],"healthy":[64],"individuals":[65],"walking":[66],"on":[67,124],"a":[68,92,136],"treadmill":[69],"with":[70,74,116,121,135],"normal":[71],"gaits":[72,75],"perturbed":[76],"electrical":[78],"stimulation.":[79],"compared":[81],"model-inferred":[83],"measured":[89,132],"externally":[90],"via":[91],"force":[93],"plate.":[94],"found":[96],"SLDS":[98,151,171,185],"accounted":[100],"over":[102],"88%":[103],"of":[104,140,162,165,175],"variation":[106],"each":[108],"labeled":[112],"kinematics":[115],"correct":[118],"phase":[120,169],"84%":[122],"precision":[123],"average.":[125],"The":[126],"transitions":[127],"between":[128],"hidden":[129],"states":[130],"matched":[131],"events,":[134],"median":[137],"absolute":[138],"difference":[139],"25ms.":[141],"To":[142],"our":[143],"knowledge,":[144],"this":[145],"is":[146],"first":[148],"time":[149],"inferred":[152],"validated":[157],"an":[159],"external":[160],"measure":[161],"gait,":[163],"instead":[164],"against":[166],"predefined":[167],"durations.":[170],"provide":[172],"individual-specific":[173],"representations":[174],"incorporate":[178],"both":[179],"may":[186],"be":[187,206],"useful":[188],"developing":[190],"control":[191,204],"policies":[192],"HRI":[194],"aimed":[195],"at":[196],"improving":[197],"allowing":[200],"changes":[202],"timed":[208],"different":[210],"phases.":[212]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}