{"id":"https://openalex.org/W4388483634","doi":"https://doi.org/10.1109/icorr58425.2023.10304758","title":"Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance","display_name":"Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4388483634","doi":"https://doi.org/10.1109/icorr58425.2023.10304758","pmid":"https://pubmed.ncbi.nlm.nih.gov/37941265"},"language":"en","primary_location":{"id":"doi:10.1109/icorr58425.2023.10304758","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icorr58425.2023.10304758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":"https://infoscience.epfl.ch/bitstreams/dbca2eff-4ea5-4aee-aab4-380a9d03a9d6/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093220198","display_name":"Sara Messara","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":true,"raw_author_name":"Sara Messara","raw_affiliation_strings":["Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057555956","display_name":"Ali Reza Manzoori","orcid":"https://orcid.org/0000-0002-6025-2336"},"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":"Ali Reza Manzoori","raw_affiliation_strings":["Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031593092","display_name":"Andrea Di Russo","orcid":"https://orcid.org/0000-0002-1518-3933"},"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":"Andrea Di Russo","raw_affiliation_strings":["Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015","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 (BioRob) of EPFL,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015","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 (BioRob) of EPFL,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BioRob) of EPFL,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5093220198"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.5611,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62686861,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"6"},"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/T10784","display_name":"Muscle activation and electromyography studies","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":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9129983186721802},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.739120602607727},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6071869730949402},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6038271188735962},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5939189195632935},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5211836695671082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5176454186439514},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.46359342336654663},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43372824788093567},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3699890673160553},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.345039963722229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.326388418674469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16485098004341125},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.11163491010665894},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09822532534599304}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9129983186721802},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.739120602607727},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6071869730949402},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6038271188735962},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5939189195632935},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5211836695671082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5176454186439514},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.46359342336654663},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43372824788093567},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3699890673160553},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.345039963722229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.326388418674469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16485098004341125},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.11163491010665894},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09822532534599304},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","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":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/icorr58425.2023.10304758","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icorr58425.2023.10304758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:37941265","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37941265","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:306012","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/201643","pdf_url":"https://infoscience.epfl.ch/bitstreams/dbca2eff-4ea5-4aee-aab4-380a9d03a9d6/download","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":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:306012","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/201643","pdf_url":"https://infoscience.epfl.ch/bitstreams/dbca2eff-4ea5-4aee-aab4-380a9d03a9d6/download","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":null,"raw_type":"conference paper"},"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388483634.pdf","grobid_xml":"https://content.openalex.org/works/W4388483634.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1635897593","https://openalex.org/W1878589647","https://openalex.org/W1981932940","https://openalex.org/W2095661097","https://openalex.org/W2132600856","https://openalex.org/W2147809815","https://openalex.org/W2493201789","https://openalex.org/W2663798482","https://openalex.org/W2769450409","https://openalex.org/W2775764143","https://openalex.org/W2979118233","https://openalex.org/W3014493743","https://openalex.org/W3118744054","https://openalex.org/W3160271044","https://openalex.org/W3185814957","https://openalex.org/W3210416003","https://openalex.org/W4231228358","https://openalex.org/W4289913039","https://openalex.org/W6639125487","https://openalex.org/W6723162990"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W3205655234","https://openalex.org/W2906683640","https://openalex.org/W4210601529","https://openalex.org/W2947640409","https://openalex.org/W2890561940","https://openalex.org/W1986886039"],"abstract_inverted_index":{"Exoskeletons":[0],"intended":[1,183],"for":[2,71,90,102,120,126,211],"partial":[3,76],"assistance":[4,77,166],"of":[5,15,51,67,93,137,174,199],"walking":[6,146,206],"should":[7],"be":[8],"able":[9],"to":[10,45,75,161,202],"follow":[11],"the":[12,39,49,52,72,82,91,127,135,138,169,175,181,191,197,200,209],"gait":[13,103],"pattern":[14],"their":[16],"users,":[17],"via":[18],"online":[19],"adaptive":[20,35],"control":[21],"strategies":[22,36],"rather":[23],"than":[24,81],"imposing":[25],"predefined":[26],"kinetic":[27],"or":[28],"kinematic":[29],"profiles.":[30],"NeuroMuscular":[31],"Controllers":[32],"(NMCs)":[33],"are":[34],"inspired":[37],"by":[38,114,190],"neuromuscular":[40],"modeling":[41],"methods":[42],"that":[43],"seek":[44],"mimic":[46],"and":[47,56,150,164,205],"replicate":[48],"behavior":[50],"human":[53],"nervous":[54],"system":[55],"skeletal":[57],"muscles":[58],"during":[59],"gait.":[60],"This":[61],"study":[62],"presents":[63],"a":[64,68,95,116,121,132,153],"novel":[65],"design":[66],"NMC,":[69],"applied":[70],"first":[73,133],"time":[74],"hip":[78],"exoskeletons.":[79],"Rather":[80],"two-phase":[83],"(stance/swing)":[84],"division":[85],"used":[86],"in":[87,168,186],"previous":[88],"designs":[89],"modulation":[92],"reflexes,":[94],"5-state":[96],"finite":[97],"state":[98,129],"machines":[99],"is":[100,111],"designed":[101],"phase":[104],"synchronisation.":[105],"The":[106,155,193],"common":[107],"virtual":[108],"muscle":[109,128],"model":[110],"also":[112,195],"modified":[113],"assuming":[115],"stiff":[117],"tendon,":[118],"allowing":[119],"more":[122],"analytical":[123],"computation":[124],"approach":[125],"resolution.":[130],"As":[131],"validation,":[134],"performance":[136],"controller":[139,201],"was":[140],"tested":[141],"with":[142,180],"9":[143],"healthy":[144],"subjects":[145],"at":[147],"different":[148,203],"speeds":[149],"slopes":[151],"on":[152],"treadmill.":[154],"generated":[156],"torque":[157],"profiles":[158,167,173],"show":[159],"similarity":[160],"biological":[162],"torques":[163],"optimal":[165],"literature.":[170],"Power":[171],"output":[172],"exoskeleton":[176],"indicate":[177],"good":[178],"synchronization":[179],"users'":[182],"movements,":[184],"reflected":[185],"predominantly":[187],"positive":[188],"work":[189],"assistance.":[192],"results":[194],"highlight":[196],"adaptability":[198],"users":[204],"conditions,":[207],"without":[208],"need":[210],"extensive":[212],"parameter":[213],"tuning.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
