{"id":"https://openalex.org/W2137519756","doi":"https://doi.org/10.1109/case.2011.6042422","title":"Exoskeleton systems kinematics analysis with graph-matroid approach","display_name":"Exoskeleton systems kinematics analysis with graph-matroid approach","publication_year":2011,"publication_date":"2011-08-01","ids":{"openalex":"https://openalex.org/W2137519756","doi":"https://doi.org/10.1109/case.2011.6042422","mag":"2137519756"},"language":"en","primary_location":{"id":"doi:10.1109/case.2011.6042422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case.2011.6042422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Automation Science and Engineering","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/A5067698613","display_name":"Ilie T\u0103lp\u0103\u015fanu","orcid":null},"institutions":[{"id":"https://openalex.org/I198034347","display_name":"Wentworth Institute of Technology","ror":"https://ror.org/03tqeft14","country_code":"US","type":"education","lineage":["https://openalex.org/I198034347"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ilie Talpasanu","raw_affiliation_strings":["Wentworth Institute of Technology, Boston, MA, US","Wentworth Institute of Technology (USA)"],"affiliations":[{"raw_affiliation_string":"Wentworth Institute of Technology, Boston, MA, US","institution_ids":["https://openalex.org/I198034347"]},{"raw_affiliation_string":"Wentworth Institute of Technology (USA)","institution_ids":["https://openalex.org/I198034347"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017504840","display_name":"Shankar Krishnan","orcid":"https://orcid.org/0000-0002-0374-1352"},"institutions":[{"id":"https://openalex.org/I198034347","display_name":"Wentworth Institute of Technology","ror":"https://ror.org/03tqeft14","country_code":"US","type":"education","lineage":["https://openalex.org/I198034347"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shankar Krishnan","raw_affiliation_strings":["Wentworth Institute of Technology, Boston, MA, US","Wentworth Institute of Technology (USA)"],"affiliations":[{"raw_affiliation_string":"Wentworth Institute of Technology, Boston, MA, US","institution_ids":["https://openalex.org/I198034347"]},{"raw_affiliation_string":"Wentworth Institute of Technology (USA)","institution_ids":["https://openalex.org/I198034347"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067698613"],"corresponding_institution_ids":["https://openalex.org/I198034347"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21263953,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":null,"first_page":"822","last_page":"827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/kinematics","display_name":"Kinematics","score":0.8217804431915283},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7901314496994019},{"id":"https://openalex.org/keywords/matroid","display_name":"Matroid","score":0.593358039855957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683161616325378},{"id":"https://openalex.org/keywords/incidence-matrix","display_name":"Incidence matrix","score":0.568203330039978},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.513687789440155},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5022518634796143},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5013961791992188},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4502604603767395},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4412306845188141},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.42800015211105347},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4066932797431946},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3616892695426941},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31079959869384766},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.26454681158065796},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.23415929079055786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2065204381942749},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.15875732898712158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15722352266311646},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13703623414039612},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11920151114463806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11770009994506836}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8217804431915283},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7901314496994019},{"id":"https://openalex.org/C106286213","wikidata":"https://www.wikidata.org/wiki/Q898572","display_name":"Matroid","level":2,"score":0.593358039855957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683161616325378},{"id":"https://openalex.org/C85136909","wikidata":"https://www.wikidata.org/wiki/Q939272","display_name":"Incidence matrix","level":3,"score":0.568203330039978},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.513687789440155},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5022518634796143},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5013961791992188},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4502604603767395},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4412306845188141},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.42800015211105347},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4066932797431946},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3616892695426941},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31079959869384766},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26454681158065796},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.23415929079055786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2065204381942749},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.15875732898712158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15722352266311646},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13703623414039612},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11920151114463806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11770009994506836},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case.2011.6042422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case.2011.6042422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1485633210","https://openalex.org/W1539230026","https://openalex.org/W1969762550","https://openalex.org/W2043794707","https://openalex.org/W2050468605","https://openalex.org/W2093884218","https://openalex.org/W2100658172","https://openalex.org/W2332920146","https://openalex.org/W2606761053","https://openalex.org/W4255288880","https://openalex.org/W6628906478"],"related_works":["https://openalex.org/W2058299944","https://openalex.org/W4233892543","https://openalex.org/W1550144461","https://openalex.org/W4323360720","https://openalex.org/W2783959783","https://openalex.org/W2602164040","https://openalex.org/W2386764991","https://openalex.org/W1991334813","https://openalex.org/W2037618987","https://openalex.org/W4200116958"],"abstract_inverted_index":{"This":[0,37,83],"paper":[1,84],"presents":[2],"a":[3,29,34,89],"novel":[4],"technique":[5],"for":[6,64],"the":[7,86],"kinematic":[8],"analysis":[9],"of":[10,31,39,51,77,81,88],"exoskeleton":[11,91],"systems,":[12],"based":[13],"on":[14],"incidence":[15],"matrices":[16],"in":[17,25],"an":[18],"edge-oriented":[19],"graph.":[20],"Kinematic":[21],"equations":[22],"are":[23],"generated":[24,43],"matrix":[26,46],"form":[27],"using":[28],"base":[30],"circuits":[32],"from":[33],"cycle":[35],"matroid.":[36],"set":[38],"independent":[40],"equations,":[41],"automatically":[42],"due":[44],"to":[45],"orthogonalities,":[47],"allows":[48],"efficient":[49],"computation":[50],"system's":[52],"joint":[53],"velocities.":[54],"The":[55],"method":[56],"has":[57],"general":[58],"applicability":[59],"and":[60,69,79],"can":[61],"be":[62],"employed":[63],"modeling":[65],"complex":[66,72],"body":[67],"segments":[68],"joints":[70],"as":[71],"mechanisms":[73],"with":[74],"large":[75],"number":[76],"links":[78],"degrees":[80],"freedom.":[82],"illustrates":[85],"model":[87],"particular":[90],"system":[92],"having":[93],"six":[94],"links.":[95]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
