{"id":"https://openalex.org/W4312299454","doi":"https://doi.org/10.1109/biorob52689.2022.9925504","title":"Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations","display_name":"Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations","publication_year":2022,"publication_date":"2022-08-21","ids":{"openalex":"https://openalex.org/W4312299454","doi":"https://doi.org/10.1109/biorob52689.2022.9925504"},"language":"en","primary_location":{"id":"doi:10.1109/biorob52689.2022.9925504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925504","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":"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/A5038009702","display_name":"Roberto Leo Medrano","orcid":"https://orcid.org/0000-0002-8342-0494"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberto Leo Medrano","raw_affiliation_strings":["Mechanical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gray Cortright Thomas","raw_affiliation_strings":["Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075910975","display_name":"Elliott J. Rouse","orcid":"https://orcid.org/0000-0003-3880-1527"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliott J. Rouse","raw_affiliation_strings":["Mechanical Engineering","Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering","institution_ids":[]},{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051369788","display_name":"Robert D. Gregg","orcid":"https://orcid.org/0000-0002-0729-2857"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D. Gregg","raw_affiliation_strings":["Electrical and Computer Engineering","Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering","institution_ids":[]},{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3194,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50337483,"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":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9904000163078308,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9696999788284302,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.7774132490158081},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7004804015159607},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6906515955924988},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6782549619674683},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6118441224098206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6011672019958496},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5612953305244446},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.45854878425598145},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4138652980327606},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40666913986206055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39045971632003784},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34685301780700684},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3228115439414978},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14585161209106445},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13270050287246704}],"concepts":[{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.7774132490158081},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7004804015159607},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6906515955924988},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6782549619674683},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6118441224098206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6011672019958496},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5612953305244446},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.45854878425598145},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4138652980327606},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40666913986206055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39045971632003784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34685301780700684},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3228115439414978},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14585161209106445},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13270050287246704},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob52689.2022.9925504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob52689.2022.9925504","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":[{"score":0.7300000190734863,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1749494163","https://openalex.org/W1987979092","https://openalex.org/W2009104157","https://openalex.org/W2015977498","https://openalex.org/W2018488577","https://openalex.org/W2090771768","https://openalex.org/W2093609443","https://openalex.org/W2094532097","https://openalex.org/W2105352020","https://openalex.org/W2123487311","https://openalex.org/W2139716007","https://openalex.org/W2142114107","https://openalex.org/W2167221577","https://openalex.org/W2330078258","https://openalex.org/W2352725842","https://openalex.org/W2700163520","https://openalex.org/W2753528279","https://openalex.org/W2788331089","https://openalex.org/W2792994057","https://openalex.org/W2890566160","https://openalex.org/W2897676283","https://openalex.org/W2899699839","https://openalex.org/W2953915543","https://openalex.org/W2956097110","https://openalex.org/W2964896674","https://openalex.org/W2966226054","https://openalex.org/W2987602118","https://openalex.org/W2998400386","https://openalex.org/W3006220602","https://openalex.org/W3012841673","https://openalex.org/W3091194127","https://openalex.org/W3111887757","https://openalex.org/W3124674856","https://openalex.org/W3128702374","https://openalex.org/W3135449185","https://openalex.org/W3138372983","https://openalex.org/W3148074603","https://openalex.org/W3178278122","https://openalex.org/W3180474056","https://openalex.org/W4200049256","https://openalex.org/W4200062316","https://openalex.org/W4210253110","https://openalex.org/W4226029098","https://openalex.org/W4232464081","https://openalex.org/W4317795008","https://openalex.org/W6804765501","https://openalex.org/W6811343507"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4226182457","https://openalex.org/W2158764002","https://openalex.org/W2526786453","https://openalex.org/W3207189946","https://openalex.org/W4254068444"],"abstract_inverted_index":{"Many":[0],"exoskeletons":[1],"today":[2],"are":[3,12,114],"primarily":[4],"tested":[5],"in":[6,19,62],"controlled,":[7],"steady-state":[8],"laboratory":[9],"conditions":[10,22,40],"that":[11,49,106],"un-realistic":[13],"representations":[14],"of":[15,69,91,109,132],"their":[16],"real-world":[17],"usage":[18],"which":[20,68,81],"walking":[21,39],"(e.g.,":[23],"speed,":[24],"slope,":[25],"and":[26,79,125],"stride":[27,121,123],"length)":[28],"change":[29],"constantly.":[30],"One":[31],"potential":[32],"solution":[33],"is":[34],"to":[35,46,52,65,94,117],"detect":[36],"these":[37],"changing":[38],"online":[41],"using":[42],"Bayesian":[43,72],"state":[44],"estimation":[45],"deliver":[47],"assistance":[48],"continuously":[50],"adapts":[51],"the":[53,70,77,107,110],"wearer's":[54],"gait.":[55],"This":[56],"paper":[57],"investigates":[58],"such":[59],"an":[60],"approach":[61],"silico,":[63],"aiming":[64],"understand":[66],"1)":[67],"various":[71],"filter":[73],"assumptions":[74,108],"best":[75],"match":[76],"problem,":[78],"2)":[80],"gait":[82],"parameters":[83],"can":[84],"be":[85],"feasibly":[86],"estimated":[87],"with":[88,128],"different":[89,95],"combinations":[90],"sensors":[92],"available":[93],"exoskeleton":[96],"configurations":[97],"(pelvis,":[98],"thigh,":[99],"shank,":[100],"and/or":[101],"foot).":[102],"Our":[103],"results":[104],"suggest":[105],"Extended":[111],"Kalman":[112],"Filter":[113],"well":[115],"suited":[116],"accurately":[118],"estimate":[119],"phase,":[120],"frequency,":[122],"length,":[124],"ramp":[126],"inclination":[127],"a":[129],"wide":[130],"variety":[131],"sparse":[133],"sensor":[134],"configurations.":[135]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}