{"id":"https://openalex.org/W3081604825","doi":"https://doi.org/10.1109/embc44109.2020.9175678","title":"Development of A Learning-Based Terrain Classification Framework for Pushrim-Activated Power-Assisted Wheelchairs","display_name":"Development of A Learning-Based Terrain Classification Framework for Pushrim-Activated Power-Assisted Wheelchairs","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3081604825","doi":"https://doi.org/10.1109/embc44109.2020.9175678","mag":"3081604825","pmid":"https://pubmed.ncbi.nlm.nih.gov/33019055"},"language":"en","primary_location":{"id":"doi:10.1109/embc44109.2020.9175678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc44109.2020.9175678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 42nd Annual International Conference of the IEEE Engineering in Medicine & 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/A5080199045","display_name":"Mahsa Khalili","orcid":"https://orcid.org/0000-0002-0510-2554"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mahsa Khalili","raw_affiliation_strings":["University of British Columbia,School of Biomedical Engineering,Vancouver,BC,Canada,V6T 1Z4"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,School of Biomedical Engineering,Vancouver,BC,Canada,V6T 1Z4","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074579921","display_name":"Keenan T. McConkey","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Keenan T. McConkey","raw_affiliation_strings":["University of British Columbia,Engineering Physics Program,Vancouver,BC,Canada,V6T 1Z4"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Engineering Physics Program,Vancouver,BC,Canada,V6T 1Z4","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015877010","display_name":"Kevin Ta","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kevin Ta","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078745995","display_name":"Lyndia C. Wu","orcid":"https://orcid.org/0000-0002-8236-032X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Lyndia C. Wu","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038741987","display_name":"H. F. Machiel Van der Loos","orcid":"https://orcid.org/0000-0003-1355-980X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H.F. Machiel Van der Loos","raw_affiliation_strings":["University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4"],"affiliations":[{"raw_affiliation_string":"University of British Columbia,Department of Mechanical Engineering,Vancouver,BC,Canada,V6T 1Z4","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083067359","display_name":"Jaimie Borisoff","orcid":"https://orcid.org/0000-0002-9672-8367"},"institutions":[{"id":"https://openalex.org/I174167972","display_name":"British Columbia Institute of Technology","ror":"https://ror.org/01p65pg69","country_code":"CA","type":"education","lineage":["https://openalex.org/I174167972"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jaimie F. Borisoff","raw_affiliation_strings":["British Columbia Institute of Technology (BCIT)"],"affiliations":[{"raw_affiliation_string":"British Columbia Institute of Technology (BCIT)","institution_ids":["https://openalex.org/I174167972"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5080199045"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":0.4349,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62957313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"2020","issue":null,"first_page":"4762","last_page":"4765"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7295349836349487},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.7067313194274902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6596406698226929},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5657392740249634},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4566146731376648},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.43815895915031433},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36556220054626465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3606102168560028}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7295349836349487},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.7067313194274902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6596406698226929},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5657392740249634},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4566146731376648},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.43815895915031433},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36556220054626465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3606102168560028},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006233","descriptor_name":"Disabled Persons","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006233","descriptor_name":"Persons with Disabilities","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006233","descriptor_name":"Persons with Disabilities","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014910","descriptor_name":"Wheelchairs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014910","descriptor_name":"Wheelchairs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014910","descriptor_name":"Wheelchairs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc44109.2020.9175678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc44109.2020.9175678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:33019055","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33019055","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}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W12712046","https://openalex.org/W1994837529","https://openalex.org/W2030759961","https://openalex.org/W2038895539","https://openalex.org/W2048518141","https://openalex.org/W2083397870","https://openalex.org/W2085025501","https://openalex.org/W2110728718","https://openalex.org/W2130670026","https://openalex.org/W2148014896","https://openalex.org/W2157987956","https://openalex.org/W2750929583","https://openalex.org/W2797233802","https://openalex.org/W2919148663","https://openalex.org/W2964491794","https://openalex.org/W6600560323"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2742303892","https://openalex.org/W2724219770","https://openalex.org/W2076341217","https://openalex.org/W2065035327","https://openalex.org/W2718635042","https://openalex.org/W1975017672","https://openalex.org/W3183731521"],"abstract_inverted_index":{"Pushrim-activated":[0],"power-assisted":[1],"wheels":[2],"(PAPAWs)":[3],"are":[4,38],"assistive":[5],"technologies":[6],"that":[7,132],"provide":[8,188],"on-demand":[9],"torque":[10],"assistance":[11],"to":[12,40,44,60,75,122,144,173],"wheelchair":[13,25,48,100,112],"users.":[14],"Although":[15],"the":[16,21,126,154,189],"available":[17],"power":[18],"can":[19,165,179],"reduce":[20],"physical":[22],"load":[23],"of":[24,97],"propulsion,":[26],"it":[27],"may":[28],"also":[29,158],"cause":[30],"maneuverability":[31],"and":[32,63,106,115,120,124,187],"controllability":[33],"issues.":[34],"Commercially-available":[35],"PAPAW":[36],"controllers":[37],"insensitive":[39],"environmental":[41],"changes,":[42],"leading":[43],"inefficient":[45],"and/or":[46],"unsafe":[47],"movements.":[49],"In":[50,79],"this":[51,67,80],"regard,":[52],"adaptive":[53,194],"velocity/torque":[54,195],"control":[55],"strategies":[56],"could":[57],"be":[58,166,180],"employed":[59],"improve":[61],"safety":[62],"stability.":[64],"To":[65],"investigate":[66],"objective,":[68],"we":[69,82],"propose":[70],"a":[71,84,133,139,145],"context-aware":[72],"sensory":[73],"framework":[74,88,137,178],"recognize":[76],"terrain":[77,86,184],"conditions.":[78],"paper,":[81],"present":[83],"learning-based":[85],"classification":[87,136,147,152,185],"for":[89,182,192],"PAPAWs.":[90],"Study":[91],"participants":[92],"performed":[93],"various":[94],"maneuvers":[95],"consisting":[96],"common":[98],"daily-life":[99],"propulsion":[101],"routines":[102],"on":[103,161],"different":[104],"indoor":[105,174],"outdoor":[107,163],"terrains.":[108],"Relevant":[109],"features":[110],"from":[111],"frame-mounted":[113],"gyroscope":[114],"accelerometer":[116],"measurements":[117],"were":[118],"extracted":[119],"used":[121,181],"train":[123],"test":[125],"proposed":[127],"classifiers.":[128],"Our":[129],"findings":[130],"revealed":[131],"one-stage":[134],"multi-label":[135],"has":[138],"higher":[140,169],"accuracy":[141,170],"performance":[142],"compared":[143,172],"two-stage":[146],"pipeline":[148],"with":[149,168],"an":[150,193],"indoor-outdoor":[151],"in":[153],"first":[155],"stage.":[156],"We":[157],"found":[159],"that,":[160],"average,":[162],"terrains":[164,175],"classified":[167],"(90%)":[171],"(65%).":[176],"This":[177],"real-time":[183],"applications":[186],"required":[190],"information":[191],"controller":[196],"design.":[197]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2020-09-08T00:00:00"}