{"id":"https://openalex.org/W2056876297","doi":"https://doi.org/10.1109/embc.2013.6611225","title":"An EKF-based approach for estimating leg stiffness during walking","display_name":"An EKF-based approach for estimating leg stiffness during walking","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2056876297","doi":"https://doi.org/10.1109/embc.2013.6611225","mag":"2056876297","pmid":"https://pubmed.ncbi.nlm.nih.gov/24111412"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2013.6611225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6611225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5037397724","display_name":"Claudia Ochoa-D\u00edaz","orcid":"https://orcid.org/0000-0002-4071-6244"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Claudia Ochoa-Diaz","raw_affiliation_strings":["Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002311937","display_name":"Henrique M. T. Menegaz","orcid":"https://orcid.org/0000-0002-4234-5459"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Henrique M. Menegaz","raw_affiliation_strings":["Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070146471","display_name":"Ant\u00f4nio Padilha Lanari B\u00f3","orcid":"https://orcid.org/0000-0001-8229-0512"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Antonio P. L. Bo","raw_affiliation_strings":["Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041680864","display_name":"Geovany A. Borges","orcid":"https://orcid.org/0000-0003-4265-9471"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["BR","US"],"is_corresponding":false,"raw_author_name":"Geovany A. Borges","raw_affiliation_strings":["Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Automation and Robotics (LARA), University of Bras\u00edlia, Brazil","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Lab. of Autom. & Robot. (LARA), Univ. of Brasilia (UnB), Brasilia, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2052,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58200987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2013","issue":null,"first_page":"7226","last_page":"7228"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.984499990940094,"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":0.9772999882698059,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.890632152557373},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6713904142379761},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5786546468734741},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5712733268737793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5300334095954895},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4911637008190155},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4437546133995056},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.42625558376312256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28674060106277466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2086380422115326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14974433183670044},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1286095380783081},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07558673620223999}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.890632152557373},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6713904142379761},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5786546468734741},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5712733268737793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5300334095954895},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4911637008190155},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4437546133995056},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.42625558376312256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28674060106277466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2086380422115326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14974433183670044},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1286095380783081},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07558673620223999},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D001698","descriptor_name":"Biomedical Engineering","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012984","descriptor_name":"Software","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D018670","descriptor_name":"Monitoring, Ambulatory","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2013.6611225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6611225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:24111412","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24111412","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:4deedc3","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1603631609","https://openalex.org/W1972728718","https://openalex.org/W1983815930","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2016582414","https://openalex.org/W2058291517","https://openalex.org/W2127981366","https://openalex.org/W2128464957","https://openalex.org/W2790374560"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2089114113","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"The":[0,61],"spring-like":[1],"behavior":[2],"is":[3,16,87,93],"an":[4,48],"inherent":[5],"condition":[6],"for":[7,105],"human":[8],"walking":[9],"and":[10,77],"running.":[11],"Since":[12],"leg":[13],"stiffness":[14,85,103],"k(leg)":[15],"a":[17,80,101],"parameter":[18],"that":[19,95],"cannot":[20],"be":[21],"directly":[22],"measured,":[23],"many":[24],"techniques":[25],"has":[26],"been":[27],"proposed":[28],"in":[29],"order":[30],"to":[31,43],"estimate":[32],"it,":[33],"most":[34],"of":[35,63,73],"them":[36],"using":[37,47],"force":[38],"data.":[39],"This":[40],"paper":[41],"intends":[42],"address":[44],"this":[45],"problem":[46],"Extended":[49],"Kalman":[50],"Filter":[51],"(EKF)":[52],"based":[53],"on":[54],"the":[55,64,71,84,96],"Spring-Loaded":[56],"Inverted":[57],"Pendulum":[58],"(SLIP)":[59],"model.":[60],"formulation":[62],"filter":[65],"only":[66],"uses":[67],"as":[68],"measurement":[69],"information":[70,82],"Center":[72],"Mass":[74],"(CoM)":[75],"position":[76],"velocity,":[78],"no":[79],"priori":[81],"about":[83],"value":[86],"known.":[88],"From":[89],"simulation":[90],"results,":[91],"it":[92],"shown":[94],"EKF-based":[97],"approach":[98],"can":[99],"generate":[100],"reliable":[102],"estimation":[104],"walking.":[106]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}