{"id":"https://openalex.org/W4200202699","doi":"https://doi.org/10.1109/embc46164.2021.9629925","title":"Perception of Powered Ankle Exoskeleton Actuation Timing During Walking: A Pilot Study","display_name":"Perception of Powered Ankle Exoskeleton Actuation Timing During Walking: A Pilot Study","publication_year":2021,"publication_date":"2021-11-01","ids":{"openalex":"https://openalex.org/W4200202699","doi":"https://doi.org/10.1109/embc46164.2021.9629925","pmid":"https://pubmed.ncbi.nlm.nih.gov/34892251"},"language":"en","primary_location":{"id":"doi:10.1109/embc46164.2021.9629925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc46164.2021.9629925","pdf_url":null,"source":{"id":"https://openalex.org/S4363607750","display_name":"2021 43rd Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","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":"2021 43rd Annual International Conference of the IEEE Engineering in Medicine &amp; 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":null,"display_name":"Xiangyu Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiangyu Peng","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yadrianna Acosta-Sojo","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yadrianna Acosta-Sojo","raw_affiliation_strings":["Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Man I Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Man I Wu","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":null,"display_name":"Leia Stirling","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leia Stirling","raw_affiliation_strings":["Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, USA","Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.7703,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6336987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2021","issue":null,"first_page":"4654","last_page":"4657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9607999920845032,"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":0.9607999920845032,"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/T10982","display_name":"Motor Control and Adaptation","score":0.010599999688565731,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.005100000184029341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9172999858856201},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5570999979972839},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.5115000009536743},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.43970000743865967},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.40700000524520874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3783000111579895},{"id":"https://openalex.org/keywords/time-perception","display_name":"Time perception","score":0.32409998774528503}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9172999858856201},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5570999979972839},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5209000110626221},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.5115000009536743},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44699999690055847},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.424699991941452},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.40700000524520874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3783000111579895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3357999920845032},{"id":"https://openalex.org/C172081034","wikidata":"https://www.wikidata.org/wiki/Q185961","display_name":"Time perception","level":3,"score":0.32409998774528503},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2924000024795532},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.27950000762939453},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26019999384880066},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.25099998712539673}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000842","descriptor_name":"Ankle","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":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","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":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010865","descriptor_name":"Pilot Projects","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc46164.2021.9629925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc46164.2021.9629925","pdf_url":null,"source":{"id":"https://openalex.org/S4363607750","display_name":"2021 43rd Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","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":"2021 43rd Annual International Conference of the IEEE Engineering in Medicine &amp; Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:34892251","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34892251","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1991235214","https://openalex.org/W1991892371","https://openalex.org/W2019360537","https://openalex.org/W2025097278","https://openalex.org/W2066586665","https://openalex.org/W2100792856","https://openalex.org/W2114313344","https://openalex.org/W2127132892","https://openalex.org/W2163531103","https://openalex.org/W2604124344","https://openalex.org/W2609988131","https://openalex.org/W2700163520","https://openalex.org/W3012841673","https://openalex.org/W3094358830","https://openalex.org/W6666070864","https://openalex.org/W6785145858"],"related_works":[],"abstract_inverted_index":{"Actuation":[0],"timing":[1,26,61,100],"is":[2,40],"an":[3],"important":[4],"parameter":[5],"in":[6,59,80,98,105,132],"powered":[7],"ankle":[8],"exoskeleton":[9,123,133,137],"control":[10,124],"that":[11],"can":[12],"significantly":[13],"influence":[14],"user":[15],"experience":[16],"and":[17,94,135],"human-system":[18,143],"performance.":[19],"Previous":[20],"studies":[21],"have":[22],"investigated":[23],"the":[24,103],"actuation":[25,47,60,86,99],"through":[27],"optimization":[28],"under":[29],"different":[30],"objective":[31],"functions,":[32],"such":[33],"as":[34],"minimizing":[35],"metabolic":[36],"cost.":[37],"However,":[38],"little":[39],"known":[41],"about":[42],"people's":[43],"psychological":[44],"sense":[45],"of":[46,85,92,119],"timing.":[48],"This":[49],"pilot":[50,113],"study":[51,114],"measured":[52],"two":[53],"subjects'":[54,78],"sensitivity":[55],"to":[56,140],"small":[57],"changes":[58,91],"during":[62],"walking.":[63],"The":[64,109],"just-noticeable":[65],"difference":[66,104],"(JND)":[67],"threshold":[68],"was":[69],"determined":[70],"via":[71],"a":[72,83,116],"fitted":[73],"psychometric":[74],"function,":[75],"which":[76,126],"quantified":[77],"performance":[79],"discriminating":[81],"between":[82,107],"pair":[84],"timings.":[87],"Subjects":[88],"could":[89],"detect":[90],"3.6%":[93],"6.8%":[95],"stride":[96],"period":[97],"respectively,":[101],"showing":[102],"perception":[106,121],"individuals.":[108],"results":[110],"from":[111],"this":[112],"provide":[115],"preliminary":[117],"understanding":[118],"human":[120],"towards":[122],"parameters,":[125],"offers":[127],"insight":[128],"on":[129],"individual":[130],"differences":[131],"usage":[134],"informs":[136],"precision":[138],"requirements":[139],"minimize":[141],"undesired":[142],"interaction.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-08T08:47:23.578185","created_date":"2021-12-31T00:00:00"}
