{"id":"https://openalex.org/W4403677286","doi":"https://doi.org/10.1109/biorob60516.2024.10719954","title":"Prediction of Whole-Body Center of Mass Using Joint Angles and Ground Reaction Forces: A Framework for Human Intent Prediction","display_name":"Prediction of Whole-Body Center of Mass Using Joint Angles and Ground Reaction Forces: A Framework for Human Intent Prediction","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403677286","doi":"https://doi.org/10.1109/biorob60516.2024.10719954"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th 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/A5083376323","display_name":"Mohsen Alizadeh Noghani","orcid":"https://orcid.org/0000-0002-1277-5706"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohsen Alizadeh Noghani","raw_affiliation_strings":["University of Notre Dame,Aerospace and Mechanical Engineering Department,Notre Dame,IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Aerospace and Mechanical Engineering Department,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076214359","display_name":"Edgar Bol\u00edvar-Nieto","orcid":"https://orcid.org/0000-0001-7697-4387"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edgar Bol\u00edvar-Nieto","raw_affiliation_strings":["University of Notre Dame,Aerospace and Mechanical Engineering Department,Notre Dame,IN,USA,46556"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Notre Dame,Aerospace and Mechanical Engineering Department,Notre Dame,IN,USA,46556","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083376323"],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":0.1755,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47994086,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1095","last_page":"1100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11196","display_name":"Non-Invasive Vital Sign Monitoring","score":0.9125999808311462,"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/T11196","display_name":"Non-Invasive Vital Sign Monitoring","score":0.9125999808311462,"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/joint","display_name":"Joint (building)","score":0.7565183639526367},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.7269735336303711},{"id":"https://openalex.org/keywords/center","display_name":"Center (category theory)","score":0.6782139539718628},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6116653680801392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43385380506515503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2259208858013153},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22159981727600098},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19559887051582336},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.13578665256500244},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09722691774368286},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.09442383050918579},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08503687381744385}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7565183639526367},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.7269735336303711},{"id":"https://openalex.org/C2779463800","wikidata":"https://www.wikidata.org/wiki/Q5062222","display_name":"Center (category theory)","level":2,"score":0.6782139539718628},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6116653680801392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43385380506515503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2259208858013153},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22159981727600098},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19559887051582336},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.13578665256500244},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09722691774368286},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.09442383050918579},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08503687381744385},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C8010536","wikidata":"https://www.wikidata.org/wiki/Q160398","display_name":"Crystallography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1980724410","https://openalex.org/W1982343271","https://openalex.org/W1995795964","https://openalex.org/W2001757193","https://openalex.org/W2059715517","https://openalex.org/W2078457597","https://openalex.org/W2118433968","https://openalex.org/W2130281033","https://openalex.org/W2134208106","https://openalex.org/W2142114107","https://openalex.org/W2160348526","https://openalex.org/W2168337660","https://openalex.org/W2218817948","https://openalex.org/W2307416340","https://openalex.org/W2474963033","https://openalex.org/W2762724310","https://openalex.org/W2792994057","https://openalex.org/W3045470471","https://openalex.org/W3143069573","https://openalex.org/W3194165539","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W4243812744","https://openalex.org/W2329741731","https://openalex.org/W2325662832","https://openalex.org/W3000322427","https://openalex.org/W2157718988"],"abstract_inverted_index":{"In":[0,62],"legged":[1],"locomotion,":[2],"information":[3],"on":[4],"the":[5,21,25,36,45,53,85,140,143],"whole-body":[6],"center":[7],"of":[8,30,47,76,106,121,130,142,151],"mass":[9],"(CoM)":[10],"plays":[11],"an":[12,40,91],"important":[13],"role":[14],"in":[15,24,43,145],"planning":[16],"and":[17,51,70,80,109,126],"control.":[18],"However,":[19],"predicting":[20],"CoM":[22,54,68],"position":[23],"future":[26],"to":[27,49,87,139],"enable":[28],"control":[29,150],"robotic":[31,152],"prosthetic":[32,153],"legs":[33],"or":[34],"infer":[35],"user":[37],"intent":[38],"remains":[39],"open":[41],"challenge;":[42],"particular,":[44],"problem":[46],"how":[48],"estimate":[50],"predict":[52],"kinematics":[55],"without":[56],"assuming":[57],"a":[58,67,96,102],"particular":[59],"locomotion":[60],"task.":[61],"this":[63],"work,":[64],"we":[65,99],"propose":[66],"estimation":[69],"prediction":[71,103],"framework":[72,144],"that":[73,101],"uses":[74],"measurements":[75],"ground":[77],"reaction":[78],"forces":[79],"joint":[81],"angles.":[82],"By":[83],"applying":[84],"method":[86],"data":[88],"collected":[89],"during":[90],"object-pickup":[92],"movement":[93],"performed":[94],"by":[95],"human":[97],"subject,":[98],"found":[100],"time":[104],"horizon":[105],"500":[107],"ms":[108],"constant":[110],"acceleration":[111],"assumption":[112],"can":[113],"achieve":[114],"average":[115,127],"RMS":[116],"(root":[117],"mean":[118],"squared)":[119],"errors":[120,129],"less":[122,131],"than":[123,132],"2":[124],"cm":[125],"maximum":[128],"3.5":[133],"cm.":[134],"The":[135],"preliminary":[136],"results":[137],"point":[138],"potential":[141],"applications":[146],"such":[147],"as":[148],"predictive":[149],"legs.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2025-10-10T00:00:00"}
