{"id":"https://openalex.org/W4402712580","doi":"https://doi.org/10.1109/humanoids58906.2024.10769948","title":"Enhancing Exoskeleton Transparency with Motion Prediction: An Experimental Study","display_name":"Enhancing Exoskeleton Transparency with Motion Prediction: An Experimental Study","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4402712580","doi":"https://doi.org/10.1109/humanoids58906.2024.10769948"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04699939/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079662576","display_name":"Alexandre Oliveira Souza","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandre Oliveira Souza","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","SAFRAN Electronics & Defense (18/20 quai du Point du Jour - 92659 Boulogne-Billancourt Cedex - France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]},{"raw_affiliation_string":"LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","institution_ids":[]},{"raw_affiliation_string":"SAFRAN Electronics & Defense (18/20 quai du Point du Jour - 92659 Boulogne-Billancourt Cedex - France - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052738005","display_name":"Jordane Grenier","orcid":"https://orcid.org/0000-0001-9874-2552"},"institutions":[{"id":"https://openalex.org/I4210165303","display_name":"Safran (France)","ror":"https://ror.org/05sqf9v67","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210165303"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jordane Grenier","raw_affiliation_strings":["Safran Electronics & Defense,Valence,France","SAFRAN Electronics & Defense (18/20 quai du Point du Jour - 92659 Boulogne-Billancourt Cedex - France - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Safran Electronics & Defense,Valence,France","institution_ids":["https://openalex.org/I4210165303"]},{"raw_affiliation_string":"SAFRAN Electronics & Defense (18/20 quai du Point du Jour - 92659 Boulogne-Billancourt Cedex - France - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051052976","display_name":"Fran\u00e7ois Charpillet","orcid":"https://orcid.org/0000-0001-8260-1536"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois Charpillet","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]},{"raw_affiliation_string":"LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022711233","display_name":"Serena Ivaldi","orcid":"https://orcid.org/0000-0001-5349-9835"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Serena Ivaldi","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]},{"raw_affiliation_string":"LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010379871","display_name":"Pauline Maurice","orcid":"https://orcid.org/0000-0001-5762-4349"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pauline Maurice","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications (Campus Scientifique BP 239 54506 Vandoeuvre-l\u00e8s-Nancy Cedex - France)","CNRS - Centre National de la Recherche Scientifique (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA,Nancy,France,F-54000","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]},{"raw_affiliation_string":"LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (France)","institution_ids":[]},{"raw_affiliation_string":"LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications (Campus Scientifique BP 239 54506 Vandoeuvre-l\u00e8s-Nancy Cedex - France)","institution_ids":["https://openalex.org/I4210121838"]},{"raw_affiliation_string":"CNRS - Centre National de la Recherche Scientifique (France)","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4364,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68256164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"744","last_page":"751"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9606999754905701,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9606999754905701,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9185000061988831,"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":0.7637163400650024},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7407175898551941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5839023590087891},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4790809750556946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27837979793548584},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.27397504448890686},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12189248204231262}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7637163400650024},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7407175898551941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839023590087891},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4790809750556946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27837979793548584},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27397504448890686},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12189248204231262}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04699939v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04699939","pdf_url":"https://hal.science/hal-04699939/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE-RAS International Conference on Humanoid Robots, Nov 2024, Nancy, France","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04699939v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04699939","pdf_url":"https://hal.science/hal-04699939/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE-RAS International Conference on Humanoid Robots, Nov 2024, Nancy, France","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402712580.pdf","grobid_xml":"https://content.openalex.org/works/W4402712580.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1735317348","https://openalex.org/W1984877834","https://openalex.org/W1991235214","https://openalex.org/W2112570665","https://openalex.org/W2191886813","https://openalex.org/W2755367247","https://openalex.org/W2902149428","https://openalex.org/W2906487027","https://openalex.org/W2922219077","https://openalex.org/W2953758872","https://openalex.org/W2964474109","https://openalex.org/W2972361704","https://openalex.org/W3127311994","https://openalex.org/W3152346070","https://openalex.org/W3162229654","https://openalex.org/W3204345677","https://openalex.org/W4220916841","https://openalex.org/W4225155569","https://openalex.org/W4283466828","https://openalex.org/W4285166633","https://openalex.org/W4285244399","https://openalex.org/W4304777328","https://openalex.org/W4319299814","https://openalex.org/W4385248899","https://openalex.org/W4388222588","https://openalex.org/W4388430275","https://openalex.org/W4388502328","https://openalex.org/W4399567508","https://openalex.org/W6843525204","https://openalex.org/W6844223692"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2475107902"],"abstract_inverted_index":{"Controlling":[0],"active":[1,93],"exoskeletons":[2,30],"for":[3,10,20,171],"occupational":[4],"assistance":[5],"is":[6],"a":[7,91,112,117,129],"challenge.":[8],"Unlike":[9],"rehabilitation":[11],"exoskeletons,":[12],"Electromyography":[13],"(EMG)":[14],"sensors":[15,36],"can":[16],"hardly":[17,161],"be":[18,70,84],"used":[19],"control":[21,27,56,99,173],"in":[22,57,132,153,174],"an":[23,88],"industrial":[24],"environment.":[25],"The":[26,126],"of":[28,50,60,177],"assistive":[29],"needs":[31],"to":[32,37,53,135,141],"rely":[33],"on":[34,102],"onboard":[35],"follow":[38],"the":[39,48,58,67,74,78,81,150,163,175],"human":[40,106],"and":[41,80,96,105,122],"assist":[42],"when":[43],"needed.":[44],"This":[45],"study":[46,155],"explores":[47],"use":[49],"motion":[51,107,145,169],"prediction,":[52],"enhance":[54],"exoskeleton":[55,68,79,95,98,148,172],"absence":[59],"payloads.":[61],"When":[62],"no":[63],"payloads":[64],"are":[65],"involved,":[66],"should":[69,83],"transparent":[71],"meaning":[72],"that":[73],"interaction":[75,133],"forces":[76],"between":[77],"user":[82],"minimal.":[85],"We":[86],"conducted":[87],"experiment":[89],"using":[90],"3D-printed":[92],"elbow":[94],"compared":[97,140],"methodologies":[100],"based":[101],"dynamic":[103],"modeling":[104],"prediction.":[108],"Fifteen":[109],"participants":[110],"performed":[111],"repetitive":[113],"pointing":[114],"task":[115],"under":[116],"baseline,":[118],"two":[119,123],"non-predictive":[120,142],"controllers":[121,139],"predictive":[124,138],"controllers.":[125,143],"results":[127],"demonstrated":[128],"significant":[130],"reduction":[131],"forces\u2014up":[134],"$45":[136],"\\%$\u2014with":[137],"While":[144],"prediction":[146,170],"enhanced":[147],"transparency,":[149],"force":[151],"magnitude":[152],"this":[154],"was":[156],"small,":[157],"so":[158],"users":[159],"could":[160],"discern":[162],"improvement.":[164],"Future":[165],"research":[166],"will":[167],"investigate":[168],"context":[176],"load-handling":[178],"assistance.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-14T07:44:22.658603","created_date":"2025-10-10T00:00:00"}