{"id":"https://openalex.org/W3090391465","doi":"https://doi.org/10.1109/icra40945.2020.9197087","title":"Controlling an upper-limb exoskeleton by EMG signal while carrying unknown load","display_name":"Controlling an upper-limb exoskeleton by EMG signal while carrying unknown load","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090391465","doi":"https://doi.org/10.1109/icra40945.2020.9197087","mag":"3090391465"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5047695262","display_name":"Benjamin Treussart","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210100046","display_name":"Integra (United States)","ror":"https://ror.org/00ynqbp15","country_code":"US","type":"company","lineage":["https://openalex.org/I4210100046"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Benjamin Treussart","raw_affiliation_strings":["LASR, SRI, CEA-List, Saclay, France","Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASR, SRI, CEA-List, Saclay, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","institution_ids":["https://openalex.org/I4210100046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057430305","display_name":"Franck Geffard","orcid":"https://orcid.org/0000-0001-5178-6697"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210100046","display_name":"Integra (United States)","ror":"https://ror.org/00ynqbp15","country_code":"US","type":"company","lineage":["https://openalex.org/I4210100046"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Franck Geffard","raw_affiliation_strings":["LASR, SRI, CEA-List, Saclay, France","Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASR, SRI, CEA-List, Saclay, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","institution_ids":["https://openalex.org/I4210100046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045352191","display_name":"Nicolas Vignais","orcid":"https://orcid.org/0000-0002-7267-0236"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210093696","display_name":"Complexit\u00e9, Innovation et Activit\u00e9s Motrices et Sportives","ror":"https://ror.org/00k3ph542","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I277688954","https://openalex.org/I4210093696"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Vignais","raw_affiliation_strings":["CIAMS, Univ. Paris-sud, Univ. Paris Saclay, Orsay, France","Complexit\u00e9, Innovation, Activit\u00e9s Motrices et Sportives"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CIAMS, Univ. Paris-sud, Univ. Paris Saclay, Orsay, France","institution_ids":["https://openalex.org/I277688954"]},{"raw_affiliation_string":"Complexit\u00e9, Innovation, Activit\u00e9s Motrices et Sportives","institution_ids":["https://openalex.org/I4210093696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023837272","display_name":"Fr\u00e9d\u00e9ric Marin","orcid":"https://orcid.org/0000-0003-0440-4849"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145747","display_name":"Biom\u00e9canique et Bioing\u00e9nierie","ror":"https://ror.org/03yaydt41","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210145747"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Frederic Marin","raw_affiliation_strings":["Frederic Marin is with Biomecanique et Bioingenierie UMR CNRS 7338, Universite de Technologie de Compiegne, Compiegne, France","Biom\u00e9canique et Bioing\u00e9nierie"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Frederic Marin is with Biomecanique et Bioingenierie UMR CNRS 7338, Universite de Technologie de Compiegne, Compiegne, France","institution_ids":["https://openalex.org/I4210145747","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Biom\u00e9canique et Bioing\u00e9nierie","institution_ids":["https://openalex.org/I4210145747"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6556,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.82879931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9107","last_page":"9113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10784","display_name":"Muscle activation and electromyography studies","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9925000071525574,"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/exoskeleton","display_name":"Exoskeleton","score":0.7969136238098145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6045341491699219},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5649314522743225},{"id":"https://openalex.org/keywords/biceps","display_name":"Biceps","score":0.5373955965042114},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5334413647651672},{"id":"https://openalex.org/keywords/deltoid-curve","display_name":"Deltoid curve","score":0.5204148888587952},{"id":"https://openalex.org/keywords/electromyography","display_name":"Electromyography","score":0.43692517280578613},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42679375410079956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37009555101394653},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33386749029159546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28190577030181885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2765185832977295},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18569886684417725},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1303231418132782},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.080190509557724}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7969136238098145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6045341491699219},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5649314522743225},{"id":"https://openalex.org/C2781425419","wikidata":"https://www.wikidata.org/wiki/Q201363","display_name":"Biceps","level":2,"score":0.5373955965042114},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5334413647651672},{"id":"https://openalex.org/C137711082","wikidata":"https://www.wikidata.org/wiki/Q2348724","display_name":"Deltoid curve","level":2,"score":0.5204148888587952},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.43692517280578613},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42679375410079956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37009555101394653},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33386749029159546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28190577030181885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2765185832977295},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18569886684417725},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1303231418132782},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.080190509557724},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02945595v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02945595","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.9107-9113, ⟨10.1109/ICRA40945.2020.9197087⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1527577471","https://openalex.org/W1549114171","https://openalex.org/W1559433133","https://openalex.org/W1964889849","https://openalex.org/W2005905424","https://openalex.org/W2010103547","https://openalex.org/W2012518715","https://openalex.org/W2031996657","https://openalex.org/W2046864285","https://openalex.org/W2073290041","https://openalex.org/W2074246426","https://openalex.org/W2076024315","https://openalex.org/W2077396358","https://openalex.org/W2081187920","https://openalex.org/W2131927363","https://openalex.org/W2135270981","https://openalex.org/W2138927452","https://openalex.org/W2140151460","https://openalex.org/W2157697917","https://openalex.org/W2167170208","https://openalex.org/W2196056879","https://openalex.org/W2308740634","https://openalex.org/W2527004428","https://openalex.org/W2575261347","https://openalex.org/W2577593902","https://openalex.org/W2588648433","https://openalex.org/W2592242374","https://openalex.org/W2752209622","https://openalex.org/W2765218414","https://openalex.org/W2774792134","https://openalex.org/W2808755609","https://openalex.org/W2908921820","https://openalex.org/W2967886525","https://openalex.org/W3008008548","https://openalex.org/W6697898680"],"related_works":["https://openalex.org/W293276664","https://openalex.org/W3126333532","https://openalex.org/W1970554925","https://openalex.org/W2318171354","https://openalex.org/W4320924103","https://openalex.org/W2121109440","https://openalex.org/W2412711876","https://openalex.org/W1994848588","https://openalex.org/W2982633272","https://openalex.org/W2540945857"],"abstract_inverted_index":{"Implementing":[0],"an":[1,6,31,37,125],"intuitive":[2],"control":[3,72],"law":[4,73],"for":[5],"upper-limb":[7,112],"exoskeleton":[8],"dedicated":[9],"to":[10,29,34,75,91,224],"force":[11,42],"augmentation":[12],"is":[13,28,49],"a":[14,56,78,103,107,158,164],"challenging":[15],"issue":[16],"in":[17,117,202],"the":[18,83,86,131,141,144,172,188,203,207,220,225],"field":[19],"of":[20,25,69,85,110,140,143,168,171,219],"human-robot":[21],"collaboration.":[22],"The":[23,47,94,138],"aim":[24],"this":[26],"study":[27],"design":[30],"innovative":[32],"approach":[33,96],"assist":[35],"carrying":[36],"unknown":[38],"load":[39,87],"without":[40,122],"using":[41],"sensors":[43],"or":[44],"specific":[45],"handle.":[46],"method":[48,133,190,205,222],"based":[50,134,147],"on":[51,99,135,148,152],"user's":[52],"intentions":[53],"estimated":[54],"through":[55],"wireless":[57],"EMG":[58,136,149],"armband":[59],"allowing":[60],"movement":[61],"direction":[62],"and":[63,129,157,176,181,206,217],"intensity":[64],"estimation":[65],"along":[66],"1":[67],"Degree":[68,109],"Freedom.":[70],"This":[71],"aimed":[74],"behave":[76],"like":[77],"gravity":[79,127,209],"compensation":[80,128],"except":[81],"that":[82],"mass":[84],"does":[88],"not":[89],"need":[90],"be":[92],"known.":[93],"proposed":[95,132,189,204,221],"was":[97,146],"tested":[98],"10":[100],"participants":[101],"during":[102],"lifting":[104],"task":[105],"with":[106,124,130,191],"single":[108],"Freedom":[111],"exoskeleton.":[113],"Participants":[114],"performed":[115],"it":[116],"three":[118],"different":[119],"conditions":[120],":":[121],"assistance,":[123],"exact":[126],"armband.":[137],"evaluation":[139,212],"efficiency":[142,216],"assistance":[145],"signals":[150],"captured":[151],"seven":[153],"muscles":[154],"(objective":[155],"indicator)":[156],"questionnaire":[159],"(subjective":[160],"indicator).":[161],"Results":[162],"showed":[163,213],"statically":[165],"significant":[166],"reduction":[167],"mean":[169],"activity":[170],"biceps,":[173],"erector":[174],"spinae":[175],"deltoid":[177],"by":[178],"20%\u00b114%,":[179],"18%\u00b112%":[180],"25%":[182],"\u00b1":[183],"16%":[184],"respectively":[185],"while":[186],"comparing":[187],"no":[192],"assistance.":[193],"In":[194],"addition,":[195],"similar":[196],"muscle":[197],"activities":[198],"were":[199],"found":[200],"both":[201],"traditional":[208,226],"compensation.":[210],"Subjective":[211],"better":[214],"precision,":[215],"responsiveness":[218],"compared":[223],"one.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}