{"id":"https://openalex.org/W1982447509","doi":"https://doi.org/10.1109/humanoids.2014.7041468","title":"Compliance analysis of human leg joints in level ground walking with an optimal control approach","display_name":"Compliance analysis of human leg joints in level ground walking with an optimal control approach","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1982447509","doi":"https://doi.org/10.1109/humanoids.2014.7041468","mag":"1982447509"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041468","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":"conference-paper","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/A5100755023","display_name":"Yue Hu","orcid":"https://orcid.org/0000-0002-3846-9096"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yue Hu","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021943562","display_name":"Martin L. Felis","orcid":"https://orcid.org/0000-0002-1221-8029"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Felis","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katja Mombaur","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, University of Heidelberg, 69115 Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"881","last_page":"886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980999827384949,"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":0.996999979019165,"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":0.6760460138320923},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6258301138877869},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.6031538844108582},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5954688787460327},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.49421027302742004},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4906279146671295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.442690372467041},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.42884695529937744},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.37235409021377563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3428766131401062},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.29867932200431824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1515192985534668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09976750612258911},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0997130274772644}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6760460138320923},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6258301138877869},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.6031538844108582},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5954688787460327},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.49421027302742004},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4906279146671295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.442690372467041},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.42884695529937744},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.37235409021377563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3428766131401062},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29867932200431824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1515192985534668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09976750612258911},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0997130274772644},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041468","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320881","display_name":"Universit\u00e4t Heidelberg","ror":"https://ror.org/038t36y30"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1967246448","https://openalex.org/W1969354366","https://openalex.org/W1976879866","https://openalex.org/W1983801397","https://openalex.org/W1989155992","https://openalex.org/W1997861712","https://openalex.org/W2009317155","https://openalex.org/W2016622935","https://openalex.org/W2029015512","https://openalex.org/W2035568722","https://openalex.org/W2035866398","https://openalex.org/W2039703906","https://openalex.org/W2071669616","https://openalex.org/W2073136132","https://openalex.org/W2102046115","https://openalex.org/W2111253117","https://openalex.org/W2138233825"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W2526541772","https://openalex.org/W2274365341","https://openalex.org/W2972881329","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2018616004","https://openalex.org/W2942851934"],"abstract_inverted_index":{"Compliance":[0],"is":[1,45,75,130],"a":[2,49,53,62,66,91,112,119],"property":[3],"of":[4,61,81,86,111,140,146],"human":[5,87,114,155],"locomotion":[6],"that":[7,56,152],"has":[8],"been":[9],"largely":[10],"investigated,":[11],"both":[12],"at":[13,149],"muscle":[14],"and":[15,108,143],"joint":[16,64,124,156],"level.":[17],"Many":[18],"studies":[19],"are":[20,102],"focused":[21],"on":[22],"leg":[23],"joints":[24,85,110],"in":[25,65,83,104,121],"order":[26],"to":[27,31,46,77,125,132],"create":[28],"mechanisms":[29],"able":[30],"reproduce":[32,154],"human-like":[33],"gaits":[34],"such":[35],"as":[36,116,118],"prostheses,":[37],"exoskeletons":[38],"or":[39],"walking":[40,68,95],"robots.":[41],"A":[42],"common":[43],"approach":[44],"look":[47],"for":[48,52],"suitable":[50],"stiffness":[51,82,101],"linear":[54],"spring":[55],"can":[57],"approximate":[58],"the":[59,73,79,84,105,122,134,137,141,144,147,150],"behavior":[60],"specific":[63],"certain":[67],"phase.":[69],"In":[70],"this":[71],"paper":[72],"objective":[74],"instead":[76],"analyze":[78],"modulation":[80],"lower":[88],"limbs":[89],"during":[90,158],"single":[92],"ground":[93,160],"level":[94,159],"step.":[96],"Torsional":[97],"springs":[98,142],"with":[99],"variable":[100,135],"introduced":[103],"hip,":[106],"knee":[107],"ankle":[109,123,151],"2D":[113],"model,":[115],"well":[117],"damper":[120,148],"avoid":[126],"oscillations.":[127],"Optimal":[128],"control":[129],"applied":[131],"compute":[133],"stiffness,":[136],"rest":[138],"positions":[139],"value":[145],"best":[153],"trajectories":[157],"walking.":[161]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
