{"id":"https://openalex.org/W4312628482","doi":"https://doi.org/10.1109/biorob52689.2022.9925376","title":"Sensorless Impedance Control for the TWIN Lower Limb Exoskeleton: A Preliminary Study","display_name":"Sensorless Impedance Control for the TWIN Lower Limb Exoskeleton: A Preliminary Study","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4312628482","doi":"https://doi.org/10.1109/biorob52689.2022.9925376"},"language":"en","primary_location":{"id":"doi:10.1109/biorob52689.2022.9925376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925376","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5076862498","display_name":"Alessia Sacchini","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessia Sacchini","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064749168","display_name":"Federico Tessari","orcid":"https://orcid.org/0000-0002-3079-0643"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Tessari","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031083291","display_name":"Christian Vassallo","orcid":"https://orcid.org/0000-0002-5236-8435"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Christian Vassallo","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003212054","display_name":"Stefano Maludrottu","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Maludrottu","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Department of Electronics, Information and Bioengineering,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029456664","display_name":"Matteo Laffranchi","orcid":"https://orcid.org/0000-0003-1189-281X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Laffranchi","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045739907","display_name":"Lorenzo De Michieli","orcid":"https://orcid.org/0000-0001-7158-3002"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo De Michieli","raw_affiliation_strings":["Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rehab Technologies Lab, Italian Institute of Technology,Genova,Italy,16138","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9907000064849854,"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":0.9797000288963318,"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/exoskeleton","display_name":"Exoskeleton","score":0.9720721244812012},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7514585256576538},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6620504856109619},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6246535778045654},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5921779274940491},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.569036602973938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5222744941711426},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.507220983505249},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4979219436645508},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.45346131920814514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4461471140384674},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4384712278842926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4237213730812073},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35552772879600525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33986997604370117},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13964629173278809},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11841574311256409}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9720721244812012},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7514585256576538},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6620504856109619},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6246535778045654},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5921779274940491},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.569036602973938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5222744941711426},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.507220983505249},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4979219436645508},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.45346131920814514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4461471140384674},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4384712278842926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4237213730812073},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35552772879600525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33986997604370117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13964629173278809},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11841574311256409},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob52689.2022.9925376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925376","pdf_url":null,"source":{"id":"https://openalex.org/S4363608367","display_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W3708925","https://openalex.org/W1978023077","https://openalex.org/W2062939404","https://openalex.org/W2070825536","https://openalex.org/W2082652131","https://openalex.org/W2091881639","https://openalex.org/W2141502545","https://openalex.org/W2196183686","https://openalex.org/W2229463931","https://openalex.org/W2469569777","https://openalex.org/W2497044512","https://openalex.org/W2546226898","https://openalex.org/W2591986496","https://openalex.org/W2614109164","https://openalex.org/W2770897917","https://openalex.org/W2809649867","https://openalex.org/W2902374589","https://openalex.org/W2970449425","https://openalex.org/W3082362852","https://openalex.org/W3090619352","https://openalex.org/W3097819982","https://openalex.org/W3111786811","https://openalex.org/W3122931878","https://openalex.org/W3129189739","https://openalex.org/W3206673637","https://openalex.org/W4250546533","https://openalex.org/W6689483542"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2530785464","https://openalex.org/W4200213857"],"abstract_inverted_index":{"The":[0,100,134],"need":[1],"of":[2,15,22,41,62,77,95,107,116,129,142,170],"compliant":[3],"control":[4,155],"strategies,":[5],"such":[6],"as":[7,104],"force":[8],"interaction":[9],"controllers,":[10],"to":[11,52,152],"improve":[12],"the":[13,32,36,39,58,68,71,82,93,111,117,130,150,166],"quality":[14],"lower":[16,84],"limb":[17,85],"robotic":[18,63,171],"rehabilitation":[19],"in":[20,31,140],"terms":[21,141],"active":[23],"patient":[24],"participation":[25],"has":[26],"shown":[27],"a":[28,89,105,122],"growing":[29],"interest":[30],"past":[33],"decades.":[34],"On":[35],"other":[37],"hand,":[38],"importance":[40],"more":[42],"compact,":[43,158],"lighter":[44],"and,":[45],"therefore,":[46],"wearable":[47],"exoskeleton":[48,86,118],"devices":[49],"appears":[50],"still":[51],"be":[53],"an":[54,78,127],"unresolved":[55],"issue":[56],"limiting":[57],"adoption":[59,167],"and":[60,74,91,113,119,145,160,168],"utilization":[61,169],"exoskeletons.":[64],"In":[65],"this":[66],"work,":[67],"authors":[69],"propose":[70],"design,":[72],"implementation":[73],"preliminary":[75],"validation":[76],"impedance":[79,147],"controller":[80],"for":[81],"TWIN":[83,131],"based":[87],"on":[88,110],"model":[90,101],"without":[92],"support":[94],"any":[96],"torque/force":[97],"sensors":[98],"(sensorless).":[99],"was":[102],"built":[103],"result":[106],"experimental":[108],"tests":[109],"hip":[112],"knee":[114],"joints":[115],"it":[120],"provides":[121],"friction":[123],"losses":[124],"estimation,":[125],"giving":[126],"overview":[128],"joints'":[132],"torque.":[133],"developed":[135],"solution":[136],"demonstrates":[137],"satisfactory":[138],"performances":[139],"disturbance":[143],"compensation":[144],"mechanical":[146],"representation,":[148],"highlighting":[149],"possibility":[151],"combine":[153],"advanced":[154],"strategies":[156],"with":[157],"lightweight":[159],"undersensorized":[161],"actuators,":[162],"thus":[163],"possibly":[164],"favoring":[165],"rehabilitation.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}