{"id":"https://openalex.org/W4366146974","doi":"https://doi.org/10.1109/icm54990.2023.10101922","title":"Assistance Torque Control Based on Musculoskeletal Hexagon Output Distribution for Upper Limb Exoskeleton","display_name":"Assistance Torque Control Based on Musculoskeletal Hexagon Output Distribution for Upper Limb Exoskeleton","publication_year":2023,"publication_date":"2023-03-15","ids":{"openalex":"https://openalex.org/W4366146974","doi":"https://doi.org/10.1109/icm54990.2023.10101922"},"language":"en","primary_location":{"id":"doi:10.1109/icm54990.2023.10101922","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icm54990.2023.10101922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Mechatronics (ICM)","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/A5056617470","display_name":"Hiroki Morishita","orcid":"https://orcid.org/0000-0002-3779-6124"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Morishita","raw_affiliation_strings":["Keio University,Murakami Laboratory,Yokohama,Japan","Murakami Laboratory, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University,Murakami Laboratory,Yokohama,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Murakami Laboratory, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076792354","display_name":"Toshiyuki Murakami","orcid":"https://orcid.org/0000-0001-8611-9755"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiyuki Murakami","raw_affiliation_strings":["Keio University,Murakami Laboratory,Yokohama,Japan","Murakami Laboratory, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University,Murakami Laboratory,Yokohama,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Murakami Laboratory, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9970999956130981,"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":0.9962000250816345,"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":0.9763326644897461},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7780271768569946},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.7771188616752625},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7413751482963562},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5093494653701782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4738467335700989},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.452609658241272},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44673654437065125},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.4377965033054352},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.4275512397289276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40824705362319946},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3967481553554535},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.27170950174331665},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.16050902009010315},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13668259978294373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12762796878814697},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11573415994644165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07665258646011353}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9763326644897461},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7780271768569946},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.7771188616752625},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7413751482963562},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5093494653701782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4738467335700989},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.452609658241272},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44673654437065125},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.4377965033054352},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.4275512397289276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40824705362319946},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3967481553554535},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27170950174331665},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.16050902009010315},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13668259978294373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12762796878814697},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11573415994644165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07665258646011353},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icm54990.2023.10101922","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icm54990.2023.10101922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1977872363","https://openalex.org/W1983393109","https://openalex.org/W1999338537","https://openalex.org/W2102618372","https://openalex.org/W2315915987","https://openalex.org/W2517291573","https://openalex.org/W2549346199","https://openalex.org/W2937714269","https://openalex.org/W2982440912","https://openalex.org/W3012542762","https://openalex.org/W3102001559","https://openalex.org/W3128921868","https://openalex.org/W4231976021"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640","https://openalex.org/W2988006194","https://openalex.org/W4391253916","https://openalex.org/W3161473036","https://openalex.org/W4384945227","https://openalex.org/W3017269254","https://openalex.org/W4389565105","https://openalex.org/W2809604412"],"abstract_inverted_index":{"Upper":[0],"limb":[1,111,168],"exoskeletons":[2,15,84],"are":[3,16,22,53],"a":[4,159,222],"current":[5],"focus":[6],"of":[7,30,34,42,49,58,62,73,103,105,124,138,140,158,165,207,213],"technology":[8],"for":[9,75],"rehabilitation":[10],"and":[11,19,56,78,94,121],"assistance.":[12,60,209],"Although":[13],"the":[14,50,76,79,83,110,181,205,214,228],"actively":[17],"researched":[18],"various":[20],"applications":[21],"being":[23],"explored,":[24],"it":[25,190,224],"poses":[26],"many":[27],"challenges":[28],"because":[29],"their":[31,236],"robot-human":[32],"fusion":[33],"dynamics.":[35],"In":[36,176],"particular,":[37],"control":[38,52,178],"strategy":[39],"is":[40,71,107,151,185,191,195,202,219,225],"one":[41,72],"main":[43],"problems":[44],"to":[45,131],"solve.":[46],"Important":[47],"points":[48],"exoskeleton":[51],"safety,":[54],"usability,":[55],"prevention":[57],"insufficient/excessive":[59],"Control":[61],"physical":[63],"HumanRobot":[64],"Interaction":[65],"(pHRI)":[66],"without":[67],"electromyographic":[68],"(EMG)":[69],"measurements":[70],"solutions":[74],"first":[77],"second":[80],"points.":[81],"However,":[82],"assist":[85,232],"based":[86,117,234],"on":[87,118,235],"only":[88],"payload":[89,120],"information":[90,123],"in":[91,98,204],"conventional":[92],"researches":[93],"they":[95],"have":[96],"disadvantages":[97],"third":[99],"point.":[100],"Since":[101],"ease":[102,137],"output":[104,139,156,184],"muscles":[106,164,171],"affected":[108],"by":[109,162,187],"posture,":[112],"assistance":[113,135,148,194,200],"should":[114],"be":[115],"determined":[116],"both":[119],"musculoskeletal":[122,133,237],"each":[125],"user.":[126],"Hence,":[127],"this":[128,143],"paper":[129],"aims":[130],"realize":[132],"model-based":[134],"considering":[136],"muscles.":[141],"For":[142],"aim,":[144],"hexagon":[145],"distribution":[146],"(HD)-based":[147],"torque":[149,201],"calculator":[150],"proposed.":[152],"HD":[153],"expresses":[154],"human":[155,183],"characteristics":[157],"hand":[160],"tip":[161],"modeling":[163],"an":[166,217],"upper":[167],"including":[169],"bi-articular":[170],"as":[172],"6":[173],"muscle":[174],"groups.":[175],"proposed":[177,215,229],"strategy,":[179],"first,":[180],"maximum":[182],"derived":[186],"HD.":[188],"Second,":[189],"judged":[192],"whether":[193],"sufficient":[196],"or":[197],"insufficient.":[198],"Finally,":[199],"adjusted":[203],"case":[206],"insufficient":[208],"To":[210],"verify":[211],"effectiveness":[212],"method,":[216],"experiment":[218],"conducted.":[220],"As":[221],"result,":[223],"confirmed":[226],"that":[227],"method":[230],"can":[231],"users":[233],"characteristics.":[238]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}