{"id":"https://openalex.org/W4315488776","doi":"https://doi.org/10.1109/cdc51059.2022.9992650","title":"IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator","display_name":"IMU-based Transparency Control of Exoskeletons Driven by Series Elastic Actuator","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488776","doi":"https://doi.org/10.1109/cdc51059.2022.9992650"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992650","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992650","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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 IEEE 61st Conference on Decision and Control (CDC)","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/A5062103380","display_name":"Leonardo F. Dos Santos","orcid":"https://orcid.org/0000-0003-4836-4543"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Leonardo F. Dos Santos","raw_affiliation_strings":["University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil"],"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014511892","display_name":"Felix M. Escalante","orcid":"https://orcid.org/0000-0002-7008-4516"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felix M. Escalante","raw_affiliation_strings":["University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil"],"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067208024","display_name":"Adriano A. G. Siqueira","orcid":"https://orcid.org/0000-0003-0663-156X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adriano A. G. Siqueira","raw_affiliation_strings":["University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil"],"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068538937","display_name":"Thiago Boaventura","orcid":"https://orcid.org/0000-0002-9008-9883"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thiago Boaventura","raw_affiliation_strings":["University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil"],"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,S&#x00E3;o Carlos School of Engineering,Brazil","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062103380"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2855,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.81246228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2594","last_page":"2599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9968000054359436,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9807999730110168,"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/actuator","display_name":"Actuator","score":0.77040034532547},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7329638004302979},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6405778527259827},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5943278074264526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4722672700881958},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.43489977717399597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42289164662361145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2958521842956543},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.1972358524799347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12456876039505005},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08247005939483643}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.77040034532547},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7329638004302979},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6405778527259827},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5943278074264526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4722672700881958},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.43489977717399597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42289164662361145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2958521842956543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.1972358524799347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12456876039505005},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08247005939483643},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992650","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992650","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1704623643","https://openalex.org/W1825041585","https://openalex.org/W2008414438","https://openalex.org/W2083894750","https://openalex.org/W2090854043","https://openalex.org/W2140036652","https://openalex.org/W2140887880","https://openalex.org/W2171323125","https://openalex.org/W2602396095","https://openalex.org/W2735152057","https://openalex.org/W2738021937","https://openalex.org/W2742814354","https://openalex.org/W2750711367","https://openalex.org/W2902374589","https://openalex.org/W2913889693","https://openalex.org/W2957461551","https://openalex.org/W3131994368","https://openalex.org/W3135354109","https://openalex.org/W4250643234"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2025756212"],"abstract_inverted_index":{"Wearable":[0],"devices":[1],"such":[2,28],"as":[3,22,24],"rehabilitation":[4],"robots,":[5],"power":[6],"augmentation":[7],"exoskeletons,":[8],"and":[9,99,119,134],"haptic":[10],"manipulators":[11],"feature":[12],"operation":[13],"modes":[14],"that":[15],"need":[16],"to":[17,63,91],"mirror":[18],"the":[19,30,40,61,72,93,106,109,128,137],"user\u2019s":[20],"action":[21],"naturally":[23],"possible.":[25],"By":[26],"tracking":[27],"motions,":[29],"human-robot":[31,82],"physical":[32],"interaction":[33,83],"is":[34],"minimized,":[35],"or,":[36],"in":[37],"other":[38],"words,":[39],"device":[41],"displays":[42],"effusive":[43],"mechanical":[44],"transparency.":[45],"The":[46,102],"present":[47],"work":[48],"applies":[49],"a":[50,64,88,124],"transparency":[51,130],"control":[52],"framework":[53],"based":[54],"on":[55,60,79],"inertial":[56],"measurement":[57],"units":[58],"fixed":[59],"user":[62],"series":[65,110],"elastic":[66,111],"exoskeleton":[67],"joint.":[68],"This":[69],"approach":[70],"guarantees":[71],"robot\u2019s":[73],"transparent":[74],"behavior":[75],"without":[76],"explicitly":[77],"relying":[78],"force":[80],"or":[81],"sensors.":[84],"Instead,":[85],"we":[86,132],"used":[87],"state":[89],"estimator":[90],"provide":[92],"human-related":[94],"quantities":[95],"needed":[96],"for":[97,113],"feedforward":[98],"feedback":[100],"control.":[101,122],"proposed":[103],"controller":[104],"considers":[105],"dynamics":[107],"of":[108,127,139],"actuator":[112],"two":[114],"motor":[115],"driver":[116],"configurations:":[117],"torque-based":[118],"velocity-based":[120],"low-level":[121],"Using":[123],"novel":[125],"definition":[126],"humanrobot":[129],"impedance,":[131],"designed":[133],"experimentally":[135],"evaluated":[136],"performance":[138],"both":[140],"controllers.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
