{"id":"https://openalex.org/W1932003552","doi":"https://doi.org/10.1109/icra.2015.7140024","title":"Optimal design of a physical assistive device to support sit-to-stand motions","display_name":"Optimal design of a physical assistive device to support sit-to-stand motions","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1932003552","doi":"https://doi.org/10.1109/icra.2015.7140024","mag":"1932003552"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140024","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":"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/A5004786810","display_name":"Khai-Long Ho Hoang","orcid":"https://orcid.org/0000-0003-4309-4257"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Khai-Long Ho Hoang","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, University of Heidelberg, Heidelberg, Germany","[Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics Group, University of Heidelberg, 69115, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, University of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"[Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics Group, University of Heidelberg, 69115, Germany]","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katja D. Mombaur","raw_affiliation_strings":["Interdisciplinary Center for Scientific Computing, University of Heidelberg, Heidelberg, Germany","[Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics Group, University of Heidelberg, 69115, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdisciplinary Center for Scientific Computing, University of Heidelberg, Heidelberg, Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"[Interdisciplinary Center for Scientific Computing, Optimization in Robotics and Biomechanics Group, University of Heidelberg, 69115, Germany]","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5891","last_page":"5897"},"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":0.9930999875068665,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9889000058174133,"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/assistive-device","display_name":"Assistive device","score":0.8023954629898071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7063619494438171},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6928317546844482},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6289685964584351},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5607830882072449},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5205722451210022},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5184773802757263},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.45490890741348267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4407268762588501},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4357765316963196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4258561134338379},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41936856508255005},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33181142807006836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2759469747543335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16239818930625916},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09292447566986084},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08781704306602478}],"concepts":[{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.8023954629898071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7063619494438171},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6928317546844482},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6289685964584351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5607830882072449},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5205722451210022},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5184773802757263},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.45490890741348267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4407268762588501},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4357765316963196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4258561134338379},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41936856508255005},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33181142807006836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2759469747543335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16239818930625916},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09292447566986084},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08781704306602478},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140024","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W101646011","https://openalex.org/W156304533","https://openalex.org/W1562460111","https://openalex.org/W2131894892","https://openalex.org/W2247187323","https://openalex.org/W2423857766","https://openalex.org/W2481121431","https://openalex.org/W2576182836","https://openalex.org/W2615648876","https://openalex.org/W3164437494","https://openalex.org/W6738015418"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2361732403"],"abstract_inverted_index":{"The":[0,21,72],"MOBOT*":[1],"project":[2],"aims":[3],"to":[4,25,29,39,107,131,145,169],"develop":[5],"assistive":[6,162],"devices":[7],"that":[8,164,179],"support":[9,90],"elderly":[10],"patients":[11,28],"with":[12],"mobility":[13,35],"disabilities":[14],"during":[15],"gait":[16],"and":[17,59,63,119,150,177],"sit-to-stand":[18],"(STS)":[19],"transfer.":[20],"device":[22,56,163],"is":[23,46,94],"supposed":[24],"help":[26],"such":[27,75],"maintain":[30],"an":[31],"independent":[32],"life":[33,42],"through":[34,61],"as":[36,38,152,154],"well":[37,153],"regain":[40],"basic":[41],"skills":[43],"since":[44,110],"self-effort":[45],"encouraged.":[47],"Situation-adapted":[48],"optimal":[49,139,148,156,166],"assistance":[50,168],"will":[51],"be":[52,108],"provided":[53],"by":[54],"the":[55,79,86,117,120,155,161,181],"both":[57,116],"proactively":[58],"adaptively":[60],"behavior-based":[62],"context-aware":[64],"robot":[65],"control":[66,140],"based":[67],"on":[68],"multimodal":[69],"action":[70],"recognition.":[71],"design":[73,100,133,158],"of":[74,81,89,160,174],"a":[76,95,127,172],"device,":[77],"including":[78],"choice":[80],"actuators,":[82],"which":[83],"can":[84],"provide":[85,165],"desired":[87],"level":[88],"without":[91],"losing":[92],"balance,":[93],"challenging":[96],"task.":[97],"For":[98],"these":[99],"choices,":[101],"in":[102],"particular":[103],"STS":[104,167],"motions":[105],"have":[106],"considered":[109],"they":[111],"are":[112,143],"more":[113],"demanding":[114],"for":[115],"patient":[118],"device.":[121],"In":[122],"this":[123,132],"paper,":[124],"we":[125],"present":[126],"model-based":[128],"optimization":[129],"approach":[130],"task,":[134],"using":[135],"direct":[136],"multiple":[137],"shooting":[138],"methods.":[141],"They":[142],"applied":[144],"simultaneously":[146],"determine":[147],"states":[149],"controls":[151],"mechanical":[157],"parameters":[159],"subjects":[170],"from":[171],"range":[173],"body":[175],"heights":[176],"weights":[178],"represents":[180],"MOBOT":[182],"target":[183],"group.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}