{"id":"https://openalex.org/W4388483111","doi":"https://doi.org/10.1109/icorr58425.2023.10304817","title":"Why Hard Code the Bionic Limbs When They Can Learn From Humans?","display_name":"Why Hard Code the Bionic Limbs When They Can Learn From Humans?","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4388483111","doi":"https://doi.org/10.1109/icorr58425.2023.10304817","pmid":"https://pubmed.ncbi.nlm.nih.gov/37941215"},"language":"en","primary_location":{"id":"doi:10.1109/icorr58425.2023.10304817","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icorr58425.2023.10304817","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://resolver.sub.uni-goettingen.de/purl?gro-2/155124","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048071893","display_name":"Sharmita Dey","orcid":"https://orcid.org/0000-0001-8058-4867"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sharmita Dey","raw_affiliation_strings":["University of Goettingen,Department of Computer Science,Germany","University of Goettingen, University Medical Center Goettingen, Germany","Department of Computer Science, University of Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen,Department of Computer Science,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"University of Goettingen, University Medical Center Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Department of Computer Science, University of Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108100081","display_name":"Niklas Schultz","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niklas De Schultz","raw_affiliation_strings":["University of Goettingen, University Medical Center Goettingen,Germany","University of Goettingen, University Medical Center Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen, University Medical Center Goettingen,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"University of Goettingen, University Medical Center Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023417557","display_name":"Arndt F. Schilling","orcid":"https://orcid.org/0000-0001-7022-1069"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arndt F. Schilling","raw_affiliation_strings":["University of Goettingen, University Medical Center Goettingen,Germany","University of Goettingen, University Medical Center Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen, University Medical Center Goettingen,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"University of Goettingen, University Medical Center Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74656192"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14413282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","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":0.9993000030517578,"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":0.9993000030517578,"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":0.9959999918937683,"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":0.9951000213623047,"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/gait","display_name":"Gait","score":0.7597598433494568},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6418330669403076},{"id":"https://openalex.org/keywords/cadence","display_name":"Cadence","score":0.6074437499046326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5802839994430542},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.5522147417068481},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.5258833765983582},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5248919725418091},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45629382133483887},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.44983112812042236},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43775826692581177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42222288250923157},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42026078701019287},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4097786545753479},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.37185877561569214},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2589621841907501},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22593891620635986}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7597598433494568},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6418330669403076},{"id":"https://openalex.org/C2777125575","wikidata":"https://www.wikidata.org/wiki/Q14088448","display_name":"Cadence","level":2,"score":0.6074437499046326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5802839994430542},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.5522147417068481},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.5258833765983582},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5248919725418091},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45629382133483887},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.44983112812042236},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43775826692581177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42222288250923157},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42026078701019287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4097786545753479},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.37185877561569214},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2589621841907501},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22593891620635986},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001701","descriptor_name":"Bionics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001701","descriptor_name":"Bionics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001701","descriptor_name":"Bionics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035002","descriptor_name":"Lower Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035002","descriptor_name":"Lower Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035002","descriptor_name":"Lower Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/icorr58425.2023.10304817","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icorr58425.2023.10304817","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:37941215","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37941215","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:publications.goettingen-research-online.de:2/160938","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/155124","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"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":null,"raw_type":"yes"}],"best_oa_location":{"id":"pmh:oai:publications.goettingen-research-online.de:2/160938","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/155124","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"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":null,"raw_type":"yes"},"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1533861849","https://openalex.org/W2010187498","https://openalex.org/W2124428761","https://openalex.org/W2146309387","https://openalex.org/W2519091744","https://openalex.org/W2550143307","https://openalex.org/W2611453176","https://openalex.org/W2792764867","https://openalex.org/W2891871660","https://openalex.org/W2899699839","https://openalex.org/W2910932367","https://openalex.org/W2969071609","https://openalex.org/W3009028912","https://openalex.org/W3011435622","https://openalex.org/W3038458306","https://openalex.org/W3114532285","https://openalex.org/W3212858769","https://openalex.org/W4210253110","https://openalex.org/W4226336393","https://openalex.org/W4318483996","https://openalex.org/W6631190155","https://openalex.org/W6631943919","https://openalex.org/W6737185050"],"related_works":["https://openalex.org/W1990146875","https://openalex.org/W42147695","https://openalex.org/W2989750484","https://openalex.org/W2086074212","https://openalex.org/W2271839583","https://openalex.org/W2102478905","https://openalex.org/W2037304482","https://openalex.org/W2461320057","https://openalex.org/W2403376385","https://openalex.org/W2155598295"],"abstract_inverted_index":{"In":[0,17],"this":[1],"paper,":[2],"we":[3,41],"propose":[4,42],"a":[5,13,62,131],"task-generic":[6],"learning-based":[7,107,144],"model":[8,78,145],"for":[9,32,109],"the":[10,20,29,33,45,147,179],"control":[11,24],"of":[12,48,53,64,186],"powered":[14],"ankle":[15,81],"exoskeleton.":[16],"contrast":[18],"to":[19,43,104,149,155,176,178],"traditional":[21],"state":[22],"machine-based":[23],"approaches":[25],"that":[26,141],"hard":[27],"codes":[28],"transition":[30],"heuristics":[31],"different":[34,110,118,180],"states":[35],"and":[36,71,83,97,120,127,166],"motion":[37,111],"conditions":[38],"during":[39,170],"gait,":[40],"learn":[44],"finer":[46],"constraints":[47],"gait":[49,92,158,181],"from":[50],"multiple":[51,73,101],"demonstrations":[52],"human":[54],"gait.":[55],"We":[56,75,99,139],"validate":[57,105],"our":[58,77,106,142],"proposed":[59,143],"approach":[60,108],"on":[61,68,79,87,130,136],"dataset":[63],"ten":[65],"subjects":[66,89,173],"walking":[67,116,129,162],"various":[69],"inclines":[70,167],"at":[72,117,163],"speeds.":[74],"deploy":[76],"an":[80],"exoskeleton,":[82],"conduct":[84,100],"user":[85],"studies":[86],"able-bodied":[88],"who":[90],"perform":[91],"scenarios":[93,182],"across":[94],"varying":[95],"speeds":[96,119,165],"inclines.":[98],"online":[102],"experiments":[103],"conditions,":[112,159],"e.g.,":[113,161],"normal":[114],"walking,":[115],"inclines,":[121],"turns,":[122],"cross-overs":[123],"with":[124],"variable":[125],"speed":[126],"cadence,":[128],"treadmill":[132],"as":[133,135],"well":[134],"level":[137],"ground.":[138],"find":[140],"has":[146],"capability":[148],"extrapolate":[150],"its":[151],"learned":[152],"decision":[153],"rules":[154],"support":[156],"untrained":[157],"for,":[160],"higher":[164],"not":[168],"seen":[169],"training.":[171],"The":[172],"were":[174],"able":[175],"adapt":[177],"comfortably":[183],"without":[184],"loss":[185],"stability.":[187]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}