{"id":"https://openalex.org/W2035767698","doi":"https://doi.org/10.1109/haptics.2014.6775453","title":"An interaction torque control improving human force estimation of the rehab-exos exoskeleton","display_name":"An interaction torque control improving human force estimation of the rehab-exos exoskeleton","publication_year":2014,"publication_date":"2014-02-01","ids":{"openalex":"https://openalex.org/W2035767698","doi":"https://doi.org/10.1109/haptics.2014.6775453","mag":"2035767698"},"language":"en","primary_location":{"id":"doi:10.1109/haptics.2014.6775453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3444399","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I157210198","display_name":"Scuola Normale Superiore","ror":"https://ror.org/03aydme10","country_code":"IT","type":"education","lineage":["https://openalex.org/I157210198"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","PERCRO Lab., Scuola Superiore, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab., Scuola Superiore, Pisa, Italy","institution_ids":["https://openalex.org/I157210198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105689082","display_name":"Mirko Abbrescia","orcid":null},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mirko Abbrescia","raw_affiliation_strings":["Department of Electrical and Information Engineering, Polytechnic University of Bari","Dept. of Electr. & Inf. Eng., Polytech. Univ. of Bari, Bari, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Polytechnic University of Bari","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Dept. of Electr. & Inf. Eng., Polytech. Univ. of Bari, Bari, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065492597","display_name":"Rocco Vertechy","orcid":"https://orcid.org/0000-0002-0634-1661"},"institutions":[{"id":"https://openalex.org/I157210198","display_name":"Scuola Normale Superiore","ror":"https://ror.org/03aydme10","country_code":"IT","type":"education","lineage":["https://openalex.org/I157210198"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Rocco Vertechy","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","PERCRO Lab., Scuola Superiore, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab., Scuola Superiore, Pisa, Italy","institution_ids":["https://openalex.org/I157210198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047062154","display_name":"Claudio Loconsole","orcid":"https://orcid.org/0000-0002-0662-6181"},"institutions":[{"id":"https://openalex.org/I157210198","display_name":"Scuola Normale Superiore","ror":"https://ror.org/03aydme10","country_code":"IT","type":"education","lineage":["https://openalex.org/I157210198"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Loconsole","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","PERCRO Lab., Scuola Superiore, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab., Scuola Superiore, Pisa, Italy","institution_ids":["https://openalex.org/I157210198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050013557","display_name":"Vitoantonio Bevilacqua","orcid":"https://orcid.org/0000-0002-3088-0788"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vitoantonio Bevilacqua","raw_affiliation_strings":["Department of Electrical and Information Engineering, Polytechnic University of Bari","Dept. of Electr. & Inf. Eng., Polytech. Univ. of Bari, Bari, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Polytechnic University of Bari","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Dept. of Electr. & Inf. Eng., Polytech. Univ. of Bari, Bari, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I157210198","display_name":"Scuola Normale Superiore","ror":"https://ror.org/03aydme10","country_code":"IT","type":"education","lineage":["https://openalex.org/I157210198"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","PERCRO Lab., Scuola Superiore, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Lab., Scuola Superiore, Pisa, Italy","institution_ids":["https://openalex.org/I157210198"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"187","last_page":"193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976999759674072,"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":0.9976999759674072,"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":0.9976000189781189,"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":0.9706000089645386,"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/exoskeleton","display_name":"Exoskeleton","score":0.8917250633239746},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8239635229110718},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7102773189544678},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.603445827960968},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5609543323516846},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.5155656337738037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5125222206115723},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4459814429283142},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.44443902373313904},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43848156929016113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4012219309806824},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3729819357395172},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32341474294662476},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1840735375881195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09291499853134155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08699822425842285}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8917250633239746},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8239635229110718},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7102773189544678},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.603445827960968},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5609543323516846},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.5155656337738037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5125222206115723},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4459814429283142},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.44443902373313904},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43848156929016113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4012219309806824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3729819357395172},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32341474294662476},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1840735375881195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09291499853134155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08699822425842285},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/haptics.2014.6775453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/haptics.2014.6775453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Haptics Symposium (HAPTICS)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/384511","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/384511","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.iris.sssup.it:11382/463175","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/463175","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3444399","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444399","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3444399","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444399","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W34660979","https://openalex.org/W1513008436","https://openalex.org/W1589460981","https://openalex.org/W1966395951","https://openalex.org/W1978047226","https://openalex.org/W1982221577","https://openalex.org/W2039793308","https://openalex.org/W2066202893","https://openalex.org/W2086604372","https://openalex.org/W2097545385","https://openalex.org/W2101908893","https://openalex.org/W2111221874","https://openalex.org/W2112867487","https://openalex.org/W2115198741","https://openalex.org/W2126663592","https://openalex.org/W2137499299","https://openalex.org/W2153081145","https://openalex.org/W2156536366","https://openalex.org/W6635202470"],"related_works":["https://openalex.org/W2107398868","https://openalex.org/W2328640053","https://openalex.org/W3113939018","https://openalex.org/W2362527675","https://openalex.org/W2114550905","https://openalex.org/W2056078466","https://openalex.org/W2158120472","https://openalex.org/W2377958454","https://openalex.org/W4225988789","https://openalex.org/W1028179284"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,8,44,55,65,71,75,78,94,97,102,106,110,128],"interaction":[4,20,134],"torque":[5,16,33,38,79,84,118,130],"control":[6,27,34,85],"of":[7,43,57,70,93,101,112],"Rehab-Exos,":[9],"an":[10],"upper-limb":[11],"robotic":[12],"exoskeleton":[13],"with":[14],"direct":[15],"joint":[17,42,117],"sensors":[18],"for":[19,40,109],"in":[21,30,77,132],"Virtual":[22],"Environments":[23],"and":[24,35,60,67,99,104],"rehabilitation.":[25],"The":[26,46,82],"architecture":[28],"consists":[29],"a":[31,50,89],"centralized":[32,83],"separated":[36],"optimal":[37,47],"observers":[39],"each":[41],"exoskeleton.":[45],"observer":[48],"is":[49,86],"full-state":[51],"Kalman":[52],"filter":[53],"providing":[54],"estimates":[56,105],"both":[58],"internal":[59],"external":[61],"torques":[62],"acting":[63],"on":[64,88],"joints":[66],"overcoming":[68],"most":[69],"issues":[72],"due":[73],"to":[74,126],"noise":[76],"sensor":[80],"signals.":[81],"based":[87],"full":[90],"dynamics":[91,100],"model":[92],"exoskeleton,":[95],"calculates":[96],"kinematics":[98],"system":[103],"feed-forward":[107],"contribution":[108],"compensation":[111],"dynamic":[113],"loads":[114],"measured":[115],"by":[116],"sensors.":[119],"Experimental":[120],"tests":[121],"have":[122],"been":[123],"carried":[124],"out":[125],"validate":[127],"desired":[129],"tracking":[131],"haptic":[133],"tasks.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2016-06-24T00:00:00"}