{"id":"https://openalex.org/W2070577140","doi":"https://doi.org/10.1109/humanoids.2014.7041432","title":"Shank-foot trajectory control: A forward dynamics approach using computed-torque control","display_name":"Shank-foot trajectory control: A forward dynamics approach using computed-torque control","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2070577140","doi":"https://doi.org/10.1109/humanoids.2014.7041432","mag":"2070577140"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5080823059","display_name":"Michael Oluwatosin Ajayi","orcid":"https://orcid.org/0000-0001-8425-3053"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I137616099","display_name":"Tshwane University of Technology","ror":"https://ror.org/037mrss42","country_code":"ZA","type":"education","lineage":["https://openalex.org/I137616099"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR","ZA"],"is_corresponding":true,"raw_author_name":"Michael Oluwatosin Ajayi","raw_affiliation_strings":["FSATI, University of Paris Est Creteil (UPEC) LISSI, Pretoria, France","FSATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South-Africa and University of Paris Est Creteil (UPEC) LISSI 94400, Vitry Sur Seine, France"],"affiliations":[{"raw_affiliation_string":"FSATI, University of Paris Est Creteil (UPEC) LISSI, Pretoria, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"FSATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South-Africa and University of Paris Est Creteil (UPEC) LISSI 94400, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I137616099","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025672785","display_name":"Karim Djouani","orcid":"https://orcid.org/0000-0001-6060-8200"},"institutions":[{"id":"https://openalex.org/I137616099","display_name":"Tshwane University of Technology","ror":"https://ror.org/037mrss42","country_code":"ZA","type":"education","lineage":["https://openalex.org/I137616099"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]},{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]}],"countries":["FR","ZA"],"is_corresponding":false,"raw_author_name":"Karim Djouani","raw_affiliation_strings":["FSATI, University of Paris Est Creteil (UPEC) LISSI, Pretoria, France","FSATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South-Africa and University of Paris Est Creteil (UPEC) LISSI 94400, Vitry Sur Seine, France"],"affiliations":[{"raw_affiliation_string":"FSATI, University of Paris Est Creteil (UPEC) LISSI, Pretoria, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]},{"raw_affiliation_string":"FSATI, Department of Electrical Engineering, Tshwane University of Technology, Staatsartillerie Road, Pretoria West, Pretoria, South-Africa and University of Paris Est Creteil (UPEC) LISSI 94400, Vitry Sur Seine, France","institution_ids":["https://openalex.org/I137616099","https://openalex.org/I197681013"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084480136","display_name":"Yskandar Hamam","orcid":"https://orcid.org/0000-0002-9673-9189"},"institutions":[{"id":"https://openalex.org/I137616099","display_name":"Tshwane University of Technology","ror":"https://ror.org/037mrss42","country_code":"ZA","type":"education","lineage":["https://openalex.org/I137616099"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Yskandar Hamam","raw_affiliation_strings":["FSATI, Tshwane University of Technology, Vlizy, France","Tshwane University of Technology, Pretoria, South Africa"],"affiliations":[{"raw_affiliation_string":"FSATI, Tshwane University of Technology, Vlizy, France","institution_ids":[]},{"raw_affiliation_string":"Tshwane University of Technology, Pretoria, South Africa","institution_ids":["https://openalex.org/I137616099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080823059"],"corresponding_institution_ids":["https://openalex.org/I137616099","https://openalex.org/I197681013","https://openalex.org/I2800365227"],"apc_list":null,"apc_paid":null,"fwci":0.1868,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56200077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"652","last_page":"657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9944999814033508,"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/control-theory","display_name":"Control theory (sociology)","score":0.8095334768295288},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7869886755943298},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7135288715362549},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6550895571708679},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.623307466506958},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4340519905090332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4132634699344635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39229410886764526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14252164959907532},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14077872037887573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09684780240058899}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8095334768295288},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7869886755943298},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7135288715362549},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6550895571708679},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.623307466506958},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4340519905090332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4132634699344635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39229410886764526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14252164959907532},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14077872037887573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09684780240058899},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W5794076","https://openalex.org/W575905749","https://openalex.org/W1547294255","https://openalex.org/W1566991064","https://openalex.org/W1606995187","https://openalex.org/W1879974976","https://openalex.org/W1979644111","https://openalex.org/W1986265391","https://openalex.org/W1991662551","https://openalex.org/W2017408536","https://openalex.org/W2020461111","https://openalex.org/W2026446346","https://openalex.org/W2042139061","https://openalex.org/W2048726136","https://openalex.org/W2050426505","https://openalex.org/W2078794407","https://openalex.org/W2117974171","https://openalex.org/W2125569628","https://openalex.org/W2127927857","https://openalex.org/W2138300314","https://openalex.org/W2138408085","https://openalex.org/W2144781570","https://openalex.org/W2149422838","https://openalex.org/W2149513345","https://openalex.org/W2155176283","https://openalex.org/W2156174987","https://openalex.org/W2157298221","https://openalex.org/W2164056806","https://openalex.org/W4246923680","https://openalex.org/W6639634688"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2687915465","https://openalex.org/W2112389631","https://openalex.org/W2103107162","https://openalex.org/W3142528978"],"abstract_inverted_index":{"This":[0,31],"paper":[1],"presents":[2],"an":[3],"approach":[4],"to":[5,16,20,40,56,70,94,141],"shank-foot":[6,45,52],"trajectory":[7,39,99,117,183,196],"control":[8,11,153,168,191],"using":[9,82,137,209],"computed-torque":[10],"method.":[12],"The":[13,51,78,127,211],"aim":[14],"is":[15,33,54,92,120,135],"provide":[17],"rehabilitative":[18,49],"measures":[19],"help":[21],"patients":[22],"with":[23,68],"lower":[24],"limb":[25],"disorders":[26],"improve":[27],"their":[28],"mobility":[29],"performance.":[30],"measure":[32],"achieved":[34],"by":[35,43,124],"designing":[36],"a":[37,75,164],"desired":[38,116],"be":[41],"followed":[42],"the":[44,48,58,64,71,96,105,110,132,143,159,172,177,180,185,198,218],"model":[46,53,134],"for":[47,104,157,176],"purpose.":[50],"designed":[55,161],"depict":[57],"knee-ankle":[59],"orthosis":[60],"having":[61],"joints":[62],"at":[63],"knee":[65],"and":[66,86,204],"ankle":[67],"respect":[69],"subject":[72],"being":[73,121],"in":[74,197],"sitting":[76],"position.":[77],"trajectories":[79,103],"were":[80,207],"defined":[81],"inverse":[83],"kinematic":[84,90],"transformations":[85],"Matsuoka":[87,111],"oscillators.":[88],"Inverse":[89],"transformation":[91],"employed":[93],"convert":[95],"specified":[97],"circular":[98,160],"into":[100,171],"joint":[101,205],"space":[102],"purpose":[106],"of":[107,131,146,179,184,189,200,217],"control;":[108],"while":[109],"oscillator":[112],"has":[113],"no":[114],"explicit":[115],"since":[118],"it":[119],"generated":[122,182],"internally":[123,181],"its":[125],"dynamics.":[126],"nonlinear":[128],"forward":[129],"dynamics":[130],"Shank-Foot":[133],"derived":[136],"Lagrange's":[138],"equation":[139],"method":[140,154],"describe":[142],"two":[144],"degree":[145],"freedom":[147],"(DoF)":[148],"system.":[149],"Computed-Torque":[150,173],"Proportional-Integral-Derivative":[151],"(PID)":[152],"was":[155,174],"used":[156,175],"tracking":[158,178],"trajectory,":[162],"whereas":[163],"simple":[165],"Proportional-Derivative":[166],"(PD)":[167],"law":[169],"incorporated":[170],"oscillator.":[186],"Tracking":[187],"capabilities":[188],"both":[190],"methods":[192],"based":[193],"on":[194],"each":[195],"presence":[199],"external":[201],"disturbances":[202],"(uncertainties)":[203],"friction":[206],"analysed":[208],"SCILAB.":[210],"results":[212],"obtained":[213],"show":[214],"satisfactory":[215],"performances":[216],"proposed":[219],"approach.":[220]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}