{"id":"https://openalex.org/W3207626486","doi":"https://doi.org/10.1109/icra48506.2021.9561553","title":"Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training","display_name":"Real-Time Human Lower Limbs Motion Estimation and Feedback for Potential Applications in Robotic Gait Aid and Training","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207626486","doi":"https://doi.org/10.1109/icra48506.2021.9561553","mag":"3207626486"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100435804","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0001-8535-0971"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Wang","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100611696","display_name":"Qingguo Li","orcid":"https://orcid.org/0000-0001-8200-6550"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Qingguo Li","raw_affiliation_strings":["Queen’s University,Department of Mechanical and Materials Engineering,Kingston,Canada,ON K7L 3N6","s University, Kingston, Canada"],"affiliations":[{"raw_affiliation_string":"Queen’s University,Department of Mechanical and Materials Engineering,Kingston,Canada,ON K7L 3N6","institution_ids":["https://openalex.org/I204722609"]},{"raw_affiliation_string":"s University, Kingston, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090869394","display_name":"Jingang Yi","orcid":"https://orcid.org/0000-0003-0628-9098"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingang Yi","raw_affiliation_strings":["Rutgers University,Department of Mechanical and Aerospace Engineering,NJ,USA,08854"],"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Mechanical and Aerospace Engineering,NJ,USA,08854","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677994","display_name":"Jinyuan Zhang","orcid":"https://orcid.org/0000-0001-6415-4103"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinyuan Zhang","raw_affiliation_strings":["Purdue University,Weldon School of Biomedical Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,Weldon School of Biomedical Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045324804","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0002-2797-0264"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100435804"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.2507,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.49985481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8465","last_page":"8471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9988999962806702,"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":0.996399998664856,"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/training","display_name":"Training (meteorology)","score":0.7567378282546997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6487163305282593},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5403916835784912},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5180437564849854},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.4629567265510559},{"id":"https://openalex.org/keywords/gait-training","display_name":"Gait training","score":0.44596967101097107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44423535466194153},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.41269242763519287},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3753618597984314},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3738662302494049},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3247130513191223},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.12641525268554688},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.07990002632141113},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06853276491165161}],"concepts":[{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.7567378282546997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6487163305282593},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5403916835784912},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5180437564849854},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.4629567265510559},{"id":"https://openalex.org/C2777217371","wikidata":"https://www.wikidata.org/wiki/Q5517370","display_name":"Gait training","level":3,"score":0.44596967101097107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44423535466194153},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.41269242763519287},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3753618597984314},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3738662302494049},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3247130513191223},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.12641525268554688},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.07990002632141113},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06853276491165161},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1215311137","https://openalex.org/W1535159712","https://openalex.org/W1623928130","https://openalex.org/W1641944749","https://openalex.org/W1967554269","https://openalex.org/W2003080482","https://openalex.org/W2005670532","https://openalex.org/W2008503048","https://openalex.org/W2064849231","https://openalex.org/W2079501369","https://openalex.org/W2124512572","https://openalex.org/W2132089121","https://openalex.org/W2162908184","https://openalex.org/W2334022093","https://openalex.org/W2560205657","https://openalex.org/W2560253279","https://openalex.org/W2564675657","https://openalex.org/W2605243700","https://openalex.org/W2791289603","https://openalex.org/W2911193078","https://openalex.org/W2938000579","https://openalex.org/W2955639367","https://openalex.org/W2989455370","https://openalex.org/W3004252244","https://openalex.org/W3013180520","https://openalex.org/W3026043111","https://openalex.org/W3088758915","https://openalex.org/W4306246290","https://openalex.org/W6628228489"],"related_works":["https://openalex.org/W2528860757","https://openalex.org/W1969367476","https://openalex.org/W2318175797","https://openalex.org/W1596965296","https://openalex.org/W2529580585","https://openalex.org/W2026679109","https://openalex.org/W2804584315","https://openalex.org/W2035558540","https://openalex.org/W4283806476","https://openalex.org/W2004712313"],"abstract_inverted_index":{"Real-time":[0],"lower":[1,51,66,84,99,113],"limbs":[2,52,67,114],"motion":[3,48,64,82,118],"or":[4,26],"gait":[5],"measurement":[6,75],"is":[7,30,57,108,139],"an":[8],"important":[9],"part":[10],"in":[11,39,119,155],"human-robotic":[12],"interaction":[13],"for":[14,95,110],"the":[15,33,62,80,146,150,171],"control":[16],"of":[17,50,65,83,92,97,145,170],"robotic":[18],"walkers":[19],"and":[20,116,136,149,162,174,185],"rehabilitation":[21],"devices.":[22],"Laser":[23],"range":[24],"finder":[25],"infrared":[27],"sensor":[28],"that":[29],"mounted":[31],"on":[32,132],"device":[34],"has":[35],"been":[36],"widely":[37],"used":[38],"applications.":[40],"Although":[41],"these":[42],"sensors":[43],"can":[44,78],"provide":[45],"accurate":[46],"horizontal":[47],"information":[49],"during":[53],"human":[54,120],"walking,":[55],"it":[56,87],"still":[58],"difficult":[59],"to":[60,69],"measure":[61,79],"angular":[63,81],"due":[68],"their":[70],"functional":[71],"principles.":[72],"Using":[73],"inertial":[74],"units":[76,94],"(IMU)":[77],"limbs,":[85],"but":[86],"requires":[88],"a":[89,105],"large":[90],"amount":[91],"IMU":[93],"measurements":[96],"all":[98],"limb":[100],"segments.":[101],"In":[102],"this":[103],"study,":[104],"novel":[106],"method":[107],"developed":[109],"real-time":[111],"monitoring":[112],"(shanks":[115],"thighs)":[117],"walking":[121],"using":[122],"just":[123],"two":[124],"shank-mounted":[125],"IMUs.":[126],"A":[127],"pose":[128],"prediction":[129],"model":[130],"based":[131],"multiple":[133],"linear":[134],"regression":[135],"Kalman":[137],"filter":[138],"proposed.":[140],"The":[141,168],"root-mean-square":[142],"error":[143],"(RMSE)":[144],"thigh":[147],"orientation":[148],"knee":[151],"joint":[152],"angle":[153],"estimation":[154,177],"sagittal":[156],"plane":[157],"are":[158,178],"6.1":[159],"±":[160,164,180,183,187],"1.3":[161],"6.8":[163],"1.4":[165],"degs,":[166],"respectively.":[167,190],"RMSE":[169],"ankle,":[172],"knee,":[173],"hip":[175],"position":[176],"4.2":[179,182],"1.3,":[181],"1.1":[184],"3.5":[186],"0.9":[188],"cm,":[189]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}