{"id":"https://openalex.org/W1515032283","doi":"https://doi.org/10.1109/icra.2015.7140030","title":"Optimal control-on-request: An application in real-time assistive balance control","display_name":"Optimal control-on-request: An application in real-time assistive balance control","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1515032283","doi":"https://doi.org/10.1109/icra.2015.7140030","mag":"1515032283"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140030","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/A5059979683","display_name":"Anastasia Mavrommati","orcid":"https://orcid.org/0000-0003-1809-2647"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anastasia Mavrommati","raw_affiliation_strings":["Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074796509","display_name":"Alex Ansari","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Ansari","raw_affiliation_strings":["Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (Mavrommati Ansari, Murphey), Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Neuroscience and Robotics Laboratory (N\u00d7R) at the Department of Mechanical Engineering (Mavrommati, Ansari, Murphey), Northwestern University, 2145 Sheridan Road Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"5928","last_page":"5934"},"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":0.9950000047683716,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/computer-science","display_name":"Computer science","score":0.6565830111503601},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6005574464797974},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5824792385101318},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5723458528518677},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5570632815361023},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5361288785934448},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45118317008018494},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.43158045411109924},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3471810519695282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12079256772994995}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6565830111503601},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6005574464797974},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5824792385101318},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5723458528518677},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5570632815361023},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5361288785934448},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45118317008018494},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.43158045411109924},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3471810519695282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12079256772994995},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7140030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140030","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:CiteSeerX.psu:10.1.1.700.1301","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.700.1301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nxr.northwestern.edu/sites/default/files/publications/ICRA2015_AnastasiaMavrommati.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1489816975","https://openalex.org/W1509991338","https://openalex.org/W1559393815","https://openalex.org/W1926733651","https://openalex.org/W1965442989","https://openalex.org/W1982659138","https://openalex.org/W2038407723","https://openalex.org/W2046636826","https://openalex.org/W2075546205","https://openalex.org/W2095782953","https://openalex.org/W2097627842","https://openalex.org/W2104865973","https://openalex.org/W2114697095","https://openalex.org/W2114702494","https://openalex.org/W2119349639","https://openalex.org/W2121310282","https://openalex.org/W2121352874","https://openalex.org/W2138300314","https://openalex.org/W2148599741","https://openalex.org/W2150388681","https://openalex.org/W2150713722","https://openalex.org/W2153918512","https://openalex.org/W2163208146","https://openalex.org/W2164056806","https://openalex.org/W2165536887","https://openalex.org/W2167633283","https://openalex.org/W2172012981","https://openalex.org/W2297116947","https://openalex.org/W2460391417","https://openalex.org/W4211003818","https://openalex.org/W4290348488","https://openalex.org/W6841633014"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W1975289146","https://openalex.org/W2087240539","https://openalex.org/W2105887828","https://openalex.org/W2146428417","https://openalex.org/W2122599759","https://openalex.org/W4236520801","https://openalex.org/W3176458675","https://openalex.org/W2561776955","https://openalex.org/W2138120972"],"abstract_inverted_index":{"This":[0,72,169],"paper":[1],"presents":[2,171],"a":[3,23,59,118,191],"method":[4],"for":[5,45,174],"shared":[6],"control":[7,13,38,63,79,107],"where":[8,120],"real-time":[9,90],"bursts":[10],"of":[11,47,54,62,77,84,92,105,157,166,208],"optimal":[12,36],"assistance":[14],"are":[15],"applied":[16],"by":[17],"an":[18,93,172,195],"observer":[19],"on-demand":[20],"to":[21,125,135,143,148],"aid":[22],"simulated":[24],"figure":[25,86,128],"in":[26,40,109,117,163,177],"maintaining":[27],"balance.":[28],"The":[29,51,152],"proposed":[30,159],"Assistive":[31],"Controller":[32],"(AC)":[33],"calculates":[34],"the":[35,48,55,66,69,82,85,89,98,103,112,121,127,130,149,155,158,164,206,209],"burst":[37],"fast,":[39],"real":[41],"time,":[42],"while":[43,87,211],"accounting":[44],"nonlinearities":[46],"dynamic":[49],"model.":[50],"short":[52],"duration":[53],"AC":[56,131,161,196],"signals":[57],"allows":[58],"rapid":[60],"transfer":[61],"authority":[64,80],"between":[65],"nominal":[67,78,122],"and":[68,129,182],"assistive":[70,99],"controller.":[71],"scheme":[73,108],"avoids":[74],"prolonged":[75],"loss":[76],"on":[81,205],"part":[83,207],"facilitating":[88],"integration":[91],"external":[94],"observer's":[95],"guidance":[96],"through":[97],"control.":[100],"We":[101],"demonstrate":[102],"benefits":[104],"this":[106],"simulation":[110,187],"using":[111,175],"Robot":[113],"Operating":[114],"System":[115],"(ROS),":[116],"context":[119],"controller":[123],"fails":[124],"stabilize":[126],"is":[132],"activated":[133],"intermittently":[134],"not":[136],"only":[137],"keep":[138],"it":[139,146],"from":[140],"falling":[141],"but":[142],"additionally":[144],"push":[145],"back":[147],"upright":[150],"position.":[151],"example":[153],"signifies":[154],"efficiency":[156],"model-based":[160],"even":[162],"absence":[165],"force/pressure":[167],"sensors.":[168],"approach":[170],"opportunity":[173],"exoskeletons":[176],"balance":[178],"support,":[179],"fall":[180],"prevention,":[181],"therapy.":[183],"In":[184],"particular,":[185],"our":[186],"results":[188],"indicate":[189],"that":[190],"therapist":[192],"equipped":[193],"with":[194,199],"interface":[197],"can,":[198],"minimal":[200],"effort,":[201],"increase":[202],"active":[203],"participation":[204],"patient":[210],"ensuring":[212],"their":[213],"safety.":[214]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}