{"id":"https://openalex.org/W1495019452","doi":"https://doi.org/10.1109/icra.2015.7139975","title":"Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model","display_name":"Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1495019452","doi":"https://doi.org/10.1109/icra.2015.7139975","mag":"1495019452"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10679/2878","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032856050","display_name":"Corinne Doppmann","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"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","JP"],"is_corresponding":true,"raw_author_name":"Corinne Doppmann","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","Department of Microengineering, Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Department of Microengineering, Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080517829","display_name":"Barkan U\u011furlu","orcid":"https://orcid.org/0000-0002-9124-7441"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["JP","TR"],"is_corresponding":false,"raw_author_name":"Barkan Ugurlu","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"id":"https://openalex.org/I3133035077","display_name":"Ube Frontier University","ror":"https://ror.org/03sgcr744","country_code":"JP","type":"education","lineage":["https://openalex.org/I3133035077"]},{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hamaya","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","Graduate School of Frontier Biosciences, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Graduate School of Frontier Biosciences, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I3133035077","https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064625832","display_name":"Tatsuya Teramae","orcid":"https://orcid.org/0000-0001-7957-5576"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Teramae","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002819026","display_name":"Tomoyuki Noda","orcid":"https://orcid.org/0000-0002-1055-5080"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoyuki Noda","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Brain Robot Interface, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032856050"],"corresponding_institution_ids":["https://openalex.org/I4210104143","https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.7259,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70382195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"17","issue":null,"first_page":"5551","last_page":"5556"},"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":0.9872999787330627,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9559999704360962,"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/flywheel","display_name":"Flywheel","score":0.9012781977653503},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.822823703289032},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.763114869594574},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.667302668094635},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6577679514884949},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6174688935279846},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.5592879056930542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5088260769844055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48239457607269287},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4568101465702057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33099448680877686},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2925872206687927},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.26548993587493896},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22389766573905945},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2087937891483307},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13660094141960144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11784571409225464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09202119708061218},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.059420883655548096}],"concepts":[{"id":"https://openalex.org/C31107917","wikidata":"https://www.wikidata.org/wiki/Q183576","display_name":"Flywheel","level":2,"score":0.9012781977653503},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.822823703289032},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.763114869594574},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.667302668094635},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6577679514884949},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6174688935279846},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.5592879056930542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5088260769844055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48239457607269287},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4568101465702057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33099448680877686},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2925872206687927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26548993587493896},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22389766573905945},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2087937891483307},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13660094141960144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11784571409225464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09202119708061218},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.059420883655548096},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/2878","is_oa":true,"landing_page_url":"http://hdl.handle.net/10679/2878","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/2878","is_oa":true,"landing_page_url":"http://hdl.handle.net/10679/2878","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"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":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1962965017","https://openalex.org/W1967742352","https://openalex.org/W1977443707","https://openalex.org/W1977692237","https://openalex.org/W1996352642","https://openalex.org/W2041061178","https://openalex.org/W2046636826","https://openalex.org/W2050835671","https://openalex.org/W2070825536","https://openalex.org/W2073136132","https://openalex.org/W2076829227","https://openalex.org/W2078046250","https://openalex.org/W2080487795","https://openalex.org/W2090886982","https://openalex.org/W2094463511","https://openalex.org/W2096291722","https://openalex.org/W2097311579","https://openalex.org/W2115730616","https://openalex.org/W2116239048","https://openalex.org/W2121227960","https://openalex.org/W2122409085","https://openalex.org/W2135588494","https://openalex.org/W2144781570","https://openalex.org/W2145788561","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2204558347","https://openalex.org/W2298747902","https://openalex.org/W2539534359","https://openalex.org/W3147241170","https://openalex.org/W6681613801"],"related_works":["https://openalex.org/W2387821838","https://openalex.org/W2370089731","https://openalex.org/W2612545861","https://openalex.org/W2899284070","https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2377264886","https://openalex.org/W2401700601","https://openalex.org/W3017269254","https://openalex.org/W2376984092"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,30,158],"biologically-inspired":[4],"real-time":[5],"balance":[6,83,115],"recovery":[7],"control":[8,94,116,161],"strategy":[9,134,142],"that":[10,153],"is":[11,35,74,109,135],"applied":[12],"to":[13,37,65,76,125,163],"lower":[15],"body":[16],"exoskeleton":[17,148],"with":[18,137,165],"variable":[19,44,131],"physical":[20,45,61,88,132],"stiffness":[21,103,108,133,141],"actuators":[22],"at":[23],"its":[24],"ankle":[25,89,101],"joints.":[26],"For":[27],"this":[28],"purpose,":[29],"torsional":[31],"spring-loaded":[32],"flywheel":[33],"model":[34],"presented":[36],"encapsulate":[38],"both":[39],"approximated":[40],"angular":[41],"momentum":[42],"and":[43,86,178],"stiffness,":[46],"which":[47],"are":[48],"crucial":[49],"parameters":[50],"in":[51,98,111,122,168],"describing":[52],"the":[53,58,78,81,87,112,119,123,126,138,154],"postural":[54],"balance.":[55],"In":[56],"particular,":[57],"incorporation":[59],"of":[60,100,170,172],"compliance":[62],"enables":[63],"us":[64],"provide":[66],"three":[67],"main":[68],"contributions:":[69],"i)":[70],"A":[71],"mathematical":[72],"formulation":[73],"developed":[75],"express":[77],"relation":[79],"between":[80],"dynamic":[82],"criterion":[84],"ZMP":[85,176],"joint":[90,102],"stiffness.":[91],"Therefore,":[92],"balancing":[93,160],"can":[95],"be":[96],"interpreted":[97],"terms":[99,169],"regulation.":[104],"ii)":[105],"\u2018Variable":[106],"physical\u2019":[107],"utilized":[110],"bipedal":[113],"robot":[114],"task":[117],"for":[118],"first":[120],"time":[121],"literature,":[124],"authors'":[127],"knowledge.":[128],"iii)":[129],"The":[130,150],"compared":[136],"optimal":[139],"constant":[140],"by":[143],"conducting":[144],"experiments":[145],"on":[146],"our":[147],"robot.":[149],"results":[151],"indicate":[152],"proposed":[155],"method":[156],"provides":[157],"favorable":[159],"performance":[162],"cope":[164],"unperceived":[166],"perturbations,":[167],"center":[171],"mass":[173],"position":[174],"regulation,":[175],"error":[177],"mechanical":[179],"power.":[180]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}