{"id":"https://openalex.org/W2570040021","doi":"https://doi.org/10.1109/cdc.2016.7799085","title":"Multi-objective optimization of tracking/impedance control for a prosthetic leg with energy regeneration","display_name":"Multi-objective optimization of tracking/impedance control for a prosthetic leg with energy regeneration","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2570040021","doi":"https://doi.org/10.1109/cdc.2016.7799085","mag":"2570040021"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799085","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","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/A5032998598","display_name":"Gholamreza Khademi","orcid":"https://orcid.org/0000-0002-3073-2734"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gholamreza Khademi","raw_affiliation_strings":["Cleveland State University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051347846","display_name":"Hanz Richter","orcid":"https://orcid.org/0000-0001-6079-3186"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanz Richter","raw_affiliation_strings":["Cleveland State University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019862542","display_name":"Dan Simon","orcid":"https://orcid.org/0000-0002-1289-4000"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Simon","raw_affiliation_strings":["Cleveland State University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102607778"],"apc_list":null,"apc_paid":null,"fwci":4.9399,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96168642,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"5322","last_page":"5327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9959999918937683,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9771999716758728,"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/control-theory","display_name":"Control theory (sociology)","score":0.6491269469261169},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.5803720355033875},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.5757098197937012},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.542143702507019},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.536984920501709},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5307407975196838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53022700548172},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5166214108467102},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49551331996917725},{"id":"https://openalex.org/keywords/regeneration","display_name":"Regeneration (biology)","score":0.46662700176239014},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45867544412612915},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39376720786094666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31985020637512207},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25041821599006653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1667104959487915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11309260129928589}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6491269469261169},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.5803720355033875},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.5757098197937012},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.542143702507019},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.536984920501709},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5307407975196838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53022700548172},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5166214108467102},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49551331996917725},{"id":"https://openalex.org/C171056886","wikidata":"https://www.wikidata.org/wiki/Q193119","display_name":"Regeneration (biology)","level":2,"score":0.46662700176239014},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45867544412612915},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39376720786094666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31985020637512207},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25041821599006653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1667104959487915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11309260129928589},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2016.7799085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799085","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:engagedscholarship.csuohio.edu:enme_facpub-1390","is_oa":false,"landing_page_url":"https://engagedscholarship.csuohio.edu/enme_facpub/387","pdf_url":null,"source":{"id":"https://openalex.org/S4306400889","display_name":"EngagedScholarship @ Cleveland State University (Cleveland State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102607778","host_organization_name":"Cleveland State University","host_organization_lineage":["https://openalex.org/I102607778"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W164136997","https://openalex.org/W1509235676","https://openalex.org/W1535006160","https://openalex.org/W1554473947","https://openalex.org/W1985635657","https://openalex.org/W1993853619","https://openalex.org/W2035866398","https://openalex.org/W2036407851","https://openalex.org/W2062384755","https://openalex.org/W2073690029","https://openalex.org/W2091833895","https://openalex.org/W2099255026","https://openalex.org/W2109135013","https://openalex.org/W2130116286","https://openalex.org/W2187691308","https://openalex.org/W2230461775","https://openalex.org/W2297985441","https://openalex.org/W2437605640","https://openalex.org/W2481717547","https://openalex.org/W2778277998","https://openalex.org/W4245726250","https://openalex.org/W4285719527","https://openalex.org/W6747047814"],"related_works":["https://openalex.org/W2058795891","https://openalex.org/W1994686097","https://openalex.org/W2028934378","https://openalex.org/W2142844925","https://openalex.org/W2513211214","https://openalex.org/W4240964608","https://openalex.org/W2085577866","https://openalex.org/W1994436307","https://openalex.org/W2198098822","https://openalex.org/W2022485595"],"abstract_inverted_index":{"The":[0,23,32,159],"focus":[1],"of":[2,34,73],"this":[3,67],"research":[4],"is":[5,52,64,82,87,93,145],"to":[6,39,95,108,147,171],"consider":[7],"control":[8],"and":[9,19,45,135,165],"energy":[10,47,110,123,137,149],"regeneration":[11,138],"for":[12,66],"a":[13,29,41,56,75,90,115],"robotic":[14],"manipulator":[15],"with":[16,101,117],"both":[17],"actively":[18],"semi-actively":[20],"controlled":[21],"joints.":[22],"semi-active":[24,152],"joints":[25],"are":[26],"powered":[27,178],"by":[28],"regenerative":[30],"scheme.":[31],"problem":[33],"designing":[35],"an":[36],"impedance":[37],"controller":[38],"track":[40],"desired":[42],"joint":[43,153],"trajectory":[44],"regenerate":[46,109,148],"in":[48,130,177],"the":[49,71,151,169],"storage":[50],"element":[51],"considered":[53],"here":[54],"as":[55],"multi-objective":[57],"optimization":[58,63],"problem.":[59],"Nondominated":[60],"sorting":[61],"biogeography-based":[62],"used":[65,94],"purpose.":[68],"To":[69],"validate":[70],"performance":[72],"system,":[74],"prosthetic":[76],"leg":[77],"which":[78],"imitates":[79],"able-bodied":[80],"gait":[81],"considered.":[83],"A":[84,99,127],"Pareto":[85],"front":[86],"obtained":[88],"where":[89],"pseudo-weight":[91],"scheme":[92],"select":[96],"among":[97],"solutions.":[98],"solution":[100,116],"minimum":[102],"tracking":[103,119,132],"error":[104],"(0.0009":[105],"rad)":[106,121,134],"fails":[107],"(loses":[111],"21.56":[112],"J),":[113],"while":[114,154],"poor":[118],"(0.0288":[120],"regenerates":[122],"(gains":[124],"167.3":[125],"J).":[126,140],"tradeoff":[128],"results":[129,160],"fair":[131,136],"(0.0157":[133],"(52.9":[139],"Results":[141],"verify":[142],"that":[143,162],"it":[144],"possible":[146],"at":[150],"still":[155],"obtaining":[156],"acceptable":[157],"tracking.":[158],"indicate":[161],"ultracapacitor":[163],"systems":[164],"advanced":[166],"controls/optimization":[167],"have":[168],"potential":[170],"significantly":[172],"reduce":[173],"external":[174],"power":[175],"requirements":[176],"prostheses.":[179]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
