{"id":"https://openalex.org/W2966622807","doi":"https://doi.org/10.1109/icorr.2019.8779440","title":"Bio-inspired standing balance controller for a full-mobilization exoskeleton","display_name":"Bio-inspired standing balance controller for a full-mobilization exoskeleton","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2966622807","doi":"https://doi.org/10.1109/icorr.2019.8779440","mag":"2966622807","pmid":"https://pubmed.ncbi.nlm.nih.gov/31374736"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2019.8779440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779440","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/280741","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043163322","display_name":"Romain Baud","orcid":"https://orcid.org/0000-0002-7535-7456"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Romain Baud","raw_affiliation_strings":["Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074351414","display_name":"Jemina Fasola","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jemina Fasola","raw_affiliation_strings":["Laboratory of Cognitive Neuroscience at EPFL, Geneva, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Cognitive Neuroscience at EPFL, Geneva, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021729623","display_name":"Tristan Vouga","orcid":"https://orcid.org/0000-0002-5744-4142"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Tristan Vouga","raw_affiliation_strings":["Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084836471","display_name":"Mohamed Bouri","orcid":"https://orcid.org/0000-0003-1083-3180"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mohamed Bouri","raw_affiliation_strings":["Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory at Swiss Federal Institute of Technology Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4985,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62851973,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2019","issue":null,"first_page":"849","last_page":"854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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":0.9987000226974487,"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":0.970870852470398},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6778292059898376},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6481025218963623},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5856272578239441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5190613865852356},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5068560242652893},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4851861596107483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3821777105331421},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3529323637485504},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3394347131252289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19898387789726257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1810522973537445},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08228433132171631}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.970870852470398},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6778292059898376},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6481025218963623},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5856272578239441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5190613865852356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5068560242652893},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4851861596107483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3821777105331421},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3529323637485504},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3394347131252289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19898387789726257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1810522973537445},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08228433132171631},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000067190","descriptor_name":"Exoskeleton Device","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004856","descriptor_name":"Postural Balance","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D004856","descriptor_name":"Postural Balance","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D004856","descriptor_name":"Postural Balance","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/icorr.2019.8779440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779440","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:31374736","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31374736","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null},{"id":"pmh:oai:infoscience.epfl.ch:280741","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/280741","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:280741","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/280741","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1106499465","https://openalex.org/W1967361470","https://openalex.org/W1994132656","https://openalex.org/W2044951073","https://openalex.org/W2128532136","https://openalex.org/W2508300267","https://openalex.org/W2744435005","https://openalex.org/W2771000883","https://openalex.org/W2792533742","https://openalex.org/W2897644908","https://openalex.org/W2907800485","https://openalex.org/W2966780885","https://openalex.org/W3101306775"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2753647732","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,66,78,100],"novel":[4],"method":[5],"to":[6,33,37,54,83,106,117],"perform":[7],"automatic":[8],"standing":[9],"balance":[10,87],"in":[11],"full":[13],"mobilization":[14],"exoskeleton.":[15],"It":[16],"exploits":[17],"the":[18,22,27,35,39,43,46,50,70,85,90,95,103,109],"locked":[19],"ankle":[20],"and":[21,41,74],"curved":[23],"foot":[24],"sole":[25,40],"of":[26,45],"exoskeleton":[28,72],"TWIICE.":[29],"The":[30,112],"idea":[31],"is":[32,61,116],"use":[34],"knees":[36],"roll":[38],"change":[42],"position":[44],"contact":[47],"point":[48],"with":[49,69,122],"floor,":[51],"which":[52],"allows":[53],"stabilize":[55],"without":[56,99],"an":[57],"actuated":[58,97],"ankle.This":[59],"controller":[60,91],"biologically":[62],"inspired,":[63],"originating":[64],"from":[65],"previous":[67],"experiment":[68],"passive":[71],"CAPTUR":[73],"healthy":[75,123],"subjects.":[76],"Then,":[77],"simulation":[79],"model":[80],"was":[81,92],"built":[82],"test":[84,118],"observed":[86],"strategy.":[88],"Finally,":[89],"implemented":[93],"on":[94],"actual":[96,120],"exoskeleton,":[98],"wearer":[101],"for":[102],"time":[104],"being,":[105],"experimentally":[107],"check":[108],"basic":[110],"operation.":[111],"next":[113],"planned":[114],"step":[115],"its":[119],"performance":[121],"subjects,":[124],"then":[125],"paraplegic":[126],"patients.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
