{"id":"https://openalex.org/W4401416572","doi":"https://doi.org/10.1109/icra57147.2024.10610191","title":"An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning","display_name":"An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416572","doi":"https://doi.org/10.1109/icra57147.2024.10610191"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://re.public.polimi.it/bitstream/11311/1276483/1/An_adaptable_ankle_trajectory_generation_ICRA.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108876176","display_name":"Raffaele Giannattasio","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Raffaele Giannattasio","raw_affiliation_strings":["Italian Institute of Technology and Politecnico di Milano"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology and Politecnico di Milano","institution_ids":["https://openalex.org/I93860229","https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003212054","display_name":"Stefano Maludrottu","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Maludrottu","raw_affiliation_strings":["Italian Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052314593","display_name":"Gaia Zinni","orcid":"https://orcid.org/0009-0000-1217-6888"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gaia Zinni","raw_affiliation_strings":["Italian Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Politecnico di Milano"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029456664","display_name":"Matteo Laffranchi","orcid":"https://orcid.org/0000-0003-1189-281X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Laffranchi","raw_affiliation_strings":["Italian Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045739907","display_name":"Lorenzo De Michieli","orcid":"https://orcid.org/0000-0001-7158-3002"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo De Michieli","raw_affiliation_strings":["Italian Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5108876176"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.9212,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.71616526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5548","last_page":"5554"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9830999970436096,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9793999791145325,"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/exoskeleton","display_name":"Exoskeleton","score":0.801700234413147},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.7500559091567993},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.60634845495224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5932634472846985},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5723143219947815},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.49657517671585083},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48029133677482605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36430788040161133},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2857237458229065},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24749475717544556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18049031496047974},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13967987895011902},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.11946019530296326},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11530378460884094},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10483986139297485},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1023397147655487},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07923346757888794}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.801700234413147},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.7500559091567993},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.60634845495224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932634472846985},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5723143219947815},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.49657517671585083},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48029133677482605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36430788040161133},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2857237458229065},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24749475717544556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18049031496047974},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13967987895011902},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.11946019530296326},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11530378460884094},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10483986139297485},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1023397147655487},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07923346757888794},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1276483","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1276483","pdf_url":"https://re.public.polimi.it/bitstream/11311/1276483/1/An_adaptable_ankle_trajectory_generation_ICRA.pdf","source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1276483","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1276483","pdf_url":"https://re.public.polimi.it/bitstream/11311/1276483/1/An_adaptable_ankle_trajectory_generation_ICRA.pdf","source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401416572.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W115126155","https://openalex.org/W606806978","https://openalex.org/W618254468","https://openalex.org/W1580648284","https://openalex.org/W2008503048","https://openalex.org/W2062363643","https://openalex.org/W2062438344","https://openalex.org/W2097273583","https://openalex.org/W2106701171","https://openalex.org/W2157087522","https://openalex.org/W2160514056","https://openalex.org/W2169983797","https://openalex.org/W2193257377","https://openalex.org/W2771000883","https://openalex.org/W2864113268","https://openalex.org/W2888523109","https://openalex.org/W2896314749","https://openalex.org/W2919170189","https://openalex.org/W2922441699","https://openalex.org/W2945224141","https://openalex.org/W3101306775","https://openalex.org/W3162585191","https://openalex.org/W3206673637","https://openalex.org/W4231228358","https://openalex.org/W4283709030","https://openalex.org/W4310880076","https://openalex.org/W4328099888","https://openalex.org/W4388483626","https://openalex.org/W4388505030"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4293226006","https://openalex.org/W2578626244","https://openalex.org/W2039317814"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,73,128,149],"method":[4],"to":[5,43,66,81,97,102,121],"compute":[6],"smooth":[7],"ankle":[8,16,22,94,144],"trajectories":[9,23,145],"for":[10],"lower":[11,157],"limb":[12,158],"exoskeletons":[13],"with":[14],"powered":[15],"joints.":[17],"The":[18,87,117],"proposed":[19,140],"approach":[20,89],"defines":[21],"using":[24,154],"four":[25,33],"polynomial":[26],"functions,":[27],"each":[28],"representing":[29],"one":[30],"of":[31,36,75,85,138,151],"the":[32,48,58,83,93,123,136,139,142,155],"primary":[34,118],"phases":[35],"gait.":[37],"These":[38],"polynomials":[39],"are":[40,55],"computed":[41],"according":[42],"different":[44,103],"safety":[45],"constraints.":[46],"During":[47],"single":[49],"support":[50],"phase,":[51,60],"ground":[52],"contact":[53],"constraints":[54,79],"enforced.":[56],"In":[57],"swing":[59],"an":[61],"optimization":[62],"problem":[63],"is":[64,120],"solved":[65],"achieve":[67],"minimum":[68],"jerk":[69],"planning":[70],"while":[71],"respecting":[72],"set":[74],"equality":[76],"and":[77,115,130],"inequality":[78],"designed":[80],"minimize":[82],"risk":[84],"stumbling.":[86],"used":[88],"focuses":[90],"on":[91,148],"making":[92],"joint":[95],"able":[96],"smoothly":[98],"adapt":[99],"in":[100],"real-time":[101],"walking":[104,132],"styles":[105],"defined":[106],"by":[107,126],"user-selected":[108],"gait":[109],"parameters":[110],"such":[111],"as":[112],"step":[113],"length":[114],"clearance.":[116],"aim":[119],"improve":[122],"user":[124],"experience":[125],"producing":[127],"secure":[129],"comfortable":[131],"pattern.":[133],"To":[134],"validate":[135],"effectiveness":[137],"method,":[141],"new":[143],"were":[146],"tested":[147],"group":[150],"healthy":[152],"volunteers":[153],"TWIN":[156],"exoskeleton.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}