{"id":"https://openalex.org/W1513430352","doi":"https://doi.org/10.1109/icra.2015.7140025","title":"Tandem stance avoidance using adaptive and asymmetric admittance control for fall prevention","display_name":"Tandem stance avoidance using adaptive and asymmetric admittance control for fall prevention","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1513430352","doi":"https://doi.org/10.1109/icra.2015.7140025","mag":"1513430352"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140025","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083742578","display_name":"Shotaro Nakagawa","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shotaro Nakagawa","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066148225","display_name":"Pei Di","orcid":"https://orcid.org/0000-0002-2655-5712"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Pei Di","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-nano Systems Engineering, Nagoya University, 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]},{"id":"https://openalex.org/I96636082","display_name":"Meijo University","ror":"https://ror.org/04h42fc75","country_code":"JP","type":"education","lineage":["https://openalex.org/I96636082"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Department of Mechatronics Engineering, Beijing Institute of Technology, Nagoya, Japan","Department of Mechatronics Engineering, Meijo University, 468-8502, Nagoya, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Beijing Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Meijo University, 468-8502, Nagoya, Japan","institution_ids":["https://openalex.org/I96636082"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059684435","display_name":"Izumi Kondo","orcid":"https://orcid.org/0000-0002-1675-7310"},"institutions":[{"id":"https://openalex.org/I4210160102","display_name":"National Center for Geriatrics and Gerontology","ror":"https://ror.org/05h0rw812","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210160102"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Izumi Kondo","raw_affiliation_strings":["Department of Rehabilitation, National Center for Geriatrics and Gerontology, Obu, Aichi, Japan","Department of Rehabilitation, National Center for Geriatrics and Gerontology, 474-8511, Obu, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation, National Center for Geriatrics and Gerontology, Obu, Aichi, Japan","institution_ids":["https://openalex.org/I4210160102"]},{"raw_affiliation_string":"Department of Rehabilitation, National Center for Geriatrics and Gerontology, 474-8511, Obu, Aichi, Japan","institution_ids":["https://openalex.org/I4210160102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074611433","display_name":"Masanori Tanimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160102","display_name":"National Center for Geriatrics and Gerontology","ror":"https://ror.org/05h0rw812","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210160102"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masanori Tanimoto","raw_affiliation_strings":["Department of Rehabilitation, National Center for Geriatrics and Gerontology, Obu, Aichi, Japan","Department of Rehabilitation, National Center for Geriatrics and Gerontology, 474-8511, Obu, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation, National Center for Geriatrics and Gerontology, Obu, Aichi, Japan","institution_ids":["https://openalex.org/I4210160102"]},{"raw_affiliation_string":"Department of Rehabilitation, National Center for Geriatrics and Gerontology, 474-8511, Obu, Aichi, Japan","institution_ids":["https://openalex.org/I4210160102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","Department of Control Science and Engineering, Huazhong University of Science and Technology, wuhan, 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Huazhong University of Science and Technology, wuhan, 430074, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5321,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65879032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"23","issue":null,"first_page":"5898","last_page":"5903"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9937000274658203,"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/falling","display_name":"Falling (accident)","score":0.7017208337783813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5664975643157959},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5364445447921753},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5362922549247742},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5129256248474121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48317232728004456},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4396023750305176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4211546778678894},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4199775755405426},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.41897666454315186},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2921707034111023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27780693769454956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23589873313903809},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.18377405405044556},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08325570821762085},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07964953780174255}],"concepts":[{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.7017208337783813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5664975643157959},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5364445447921753},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5362922549247742},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5129256248474121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48317232728004456},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4396023750305176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4211546778678894},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4199775755405426},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.41897666454315186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2921707034111023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27780693769454956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23589873313903809},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.18377405405044556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08325570821762085},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07964953780174255},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140025","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":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1563853789","https://openalex.org/W1991274481","https://openalex.org/W2013384045","https://openalex.org/W2018759986","https://openalex.org/W2047851005","https://openalex.org/W2048315518","https://openalex.org/W2108965296","https://openalex.org/W2114163932","https://openalex.org/W2125037285","https://openalex.org/W2133106919","https://openalex.org/W2149619149","https://openalex.org/W2294001878","https://openalex.org/W2543067154","https://openalex.org/W3148732777","https://openalex.org/W6647593954","https://openalex.org/W6655101035","https://openalex.org/W6677195727","https://openalex.org/W6792988569"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2402151266","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Fall":[0],"prevention":[1,112,127],"is":[2,17,47,53,92,99,198,213],"one":[3],"of":[4,9,50,75,88,105,116,132,143,152,172,180,203],"the":[5,86,89,106,117,133,150,173,181,186,189,200,204,210,220,231],"most":[6],"important":[7],"functions":[8],"walking":[10,45],"assistance":[11],"devices":[12,21],"for":[13,109,129],"user's":[14,164,225],"safety.":[15],"It":[16,52,98],"preferable":[18],"that":[19,219],"these":[20],"obviates":[22],"factors":[23],"which":[24],"induce":[25],"falling":[26,34],"over":[27],"rather":[28],"than":[29],"helping":[30],"them":[31],"recovering":[32],"from":[33,233],"motion.":[35],"Tandem":[36],"stance,":[37],"where":[38],"both":[39],"legs":[40],"form":[41],"a":[42,48,60,76,124,153,157,169,208],"line":[43],"along":[44],"direction,":[46],"factor":[49],"falling.":[51],"often":[54],"observed":[55],"in":[56,64,235],"turning":[57,74,82,146,205],"motion":[58,147],"because":[59],"swing":[61,158],"leg":[62,155,165,197],"moves":[63],"lateral":[65],"direction":[66],"as":[67,69],"well":[68],"forward.":[70],"Generally,":[71],"upper":[72,95,118,226],"body's":[73,227],"person":[77],"proceeds":[78],"before":[79],"lower":[80,90,107],"limb's":[81],"during":[83],"walking,":[84],"and":[85,156,167],"behavior":[87,104,115,228],"limb":[91,108],"constrained":[93],"by":[94,113],"body":[96],"turning.":[97],"thus":[100],"possible":[101],"to":[102,149,193,229],"control":[103],"tandem":[110,125,211,236],"stance":[111,126,212],"constraining":[114],"body.":[119],"This":[120],"paper":[121],"therefore":[122],"introduces":[123],"method":[128,140],"safer":[130],"walk":[131,170,187],"elderly":[134],"or":[135],"physically":[136],"challenged":[137],"person.":[138],"The":[139,160],"adjusts":[141],"admittance":[142,178],"cane":[144,161,182,190,221],"robot's":[145],"according":[148],"positions":[151],"support":[154,196],"leg.":[159],"robot":[162,183,191,222],"measures":[163],"position":[166],"estimates":[168],"phase":[171],"user.":[174],"By":[175],"adjusting":[176],"an":[177],"model":[179],"based":[184],"on":[185,199],"phase,":[188],"resists":[192],"turn":[194],"while":[195],"same":[201],"side":[202],"direction.":[206],"As":[207],"result,":[209],"avoided.":[214],"Through":[215],"experiments,":[216],"we":[217],"confirmed":[218],"successfully":[223],"controls":[224],"prevent":[230],"user":[232],"being":[234],"stance.":[237]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
