{"id":"https://openalex.org/W4401416057","doi":"https://doi.org/10.1109/icra57147.2024.10611632","title":"Transparency Control of a 1-DoF Knee Exoskeleton via Human-in-the-Loop Velocity Optimisation","display_name":"Transparency Control of a 1-DoF Knee Exoskeleton via Human-in-the-Loop Velocity Optimisation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416057","doi":"https://doi.org/10.1109/icra57147.2024.10611632"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611632","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092397700","display_name":"Lukas Cha","orcid":"https://orcid.org/0000-0002-5242-6973"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lukas Cha","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086990554","display_name":"A. Guez","orcid":"https://orcid.org/0000-0001-8702-7334"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Annika Guez","raw_affiliation_strings":["Imperial College London,Department of Mechanical Engineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Mechanical Engineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662346","display_name":"Chih\u2010Yu Chen","orcid":"https://orcid.org/0000-0002-6670-5682"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Chih-Yu Chen","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022223254","display_name":"Sion Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sion Kim","raw_affiliation_strings":["Imperial College London,Department of Mechanical Engineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Mechanical Engineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101932482","display_name":"Zhenhua Yu","orcid":"https://orcid.org/0000-0001-7548-3869"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenhua Yu","raw_affiliation_strings":["Imperial College London,Department of Mechanical Engineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Mechanical Engineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041909892","display_name":"Bo Xiao","orcid":"https://orcid.org/0000-0001-9361-4340"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bo Xiao","raw_affiliation_strings":["Imperial College London,Department of Mechanical Engineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Mechanical Engineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043916064","display_name":"Ravi Vaidyanathan","orcid":"https://orcid.org/0000-0002-9625-4544"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ravi Vaidyanathan","raw_affiliation_strings":["Imperial College London,Department of Mechanical Engineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Department of Mechanical Engineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5092397700"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.1829,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46223844,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7902","last_page":"7908"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.986299991607666,"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":0.9796000123023987,"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":0.8155547976493835},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.7537800669670105},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.5922507047653198},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5075029730796814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4791507124900818},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4258934259414673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34355223178863525},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24708044528961182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18803218007087708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16424885392189026},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07843223214149475}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8155547976493835},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.7537800669670105},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.5922507047653198},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5075029730796814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4791507124900818},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4258934259414673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34355223178863525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24708044528961182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18803218007087708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16424885392189026},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07843223214149475},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611632","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:mediatum.ub.tum.de:node/1733732","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1733732","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Semesterarbeit"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/5","score":0.4399999976158142,"display_name":"Gender equality"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W601228132","https://openalex.org/W1480865411","https://openalex.org/W2022323053","https://openalex.org/W2059368191","https://openalex.org/W2073801600","https://openalex.org/W2099946053","https://openalex.org/W2121658418","https://openalex.org/W2139674081","https://openalex.org/W2163208146","https://openalex.org/W2469569777","https://openalex.org/W2904970546","https://openalex.org/W2966183666","https://openalex.org/W3159155390","https://openalex.org/W3183767215","https://openalex.org/W3183839786","https://openalex.org/W3193421557","https://openalex.org/W4281912977","https://openalex.org/W4294311507","https://openalex.org/W4296914541","https://openalex.org/W4313213879","https://openalex.org/W4319915155","https://openalex.org/W4391326513","https://openalex.org/W6679056260","https://openalex.org/W6682945203","https://openalex.org/W6728312108","https://openalex.org/W6798001059"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732","https://openalex.org/W4303574780","https://openalex.org/W4367173559"],"abstract_inverted_index":{"Rehabilitative":[0],"robotics,":[1],"particularly":[2],"lower-limb":[3],"exoskeletons":[4],"(LLEs),":[5],"have":[6],"gained":[7],"increasing":[8],"importance":[9],"in":[10,20,171],"aiding":[11],"patients":[12],"regain":[13],"ambulatory":[14],"functions.":[15],"One":[16],"of":[17,28,136],"the":[18,26,38,42,49,52,63,105,133,191],"challenges":[19],"making":[21],"these":[22],"systems":[23],"effective":[24],"is":[25,48,140,155],"implementation":[27],"an":[29,123],"assist-as-needed":[30],"(AAN)":[31],"control":[32,79,200],"strategy":[33],"that":[34,131,178],"intervenes":[35],"only":[36],"when":[37],"patient":[39],"deviates":[40],"from":[41,94],"correct":[43],"movement":[44],"pattern.":[45],"Equally":[46],"crucial":[47],"need":[50],"for":[51,146,198,204],"LLE":[53],"to":[54,65,77,103,149,190],"exhibit":[55],"\"transparency\"":[56],"\u2014":[57],"minimising":[58],"its":[59],"interaction":[60,183],"forces":[61],"with":[62,142,163,182],"wearer":[64],"feel":[66],"as":[67,69],"natural":[68],"possible.":[70],"This":[71,153],"paper":[72],"introduces":[73],"a":[74,82,98,112,143,159,164,172],"novel":[75],"approach":[76,154],"transparency":[78,188],"based":[80,128],"on":[81],"human-in-the-loop":[83],"velocity":[84,115,118,205],"optimisation":[85,206],"framework.":[86],"The":[87,117],"proposed":[88],"method":[89],"employs":[90],"torque":[91,202],"data":[92],"captured":[93],"past":[95],"steps":[96],"through":[97],"Series":[99],"Elastic":[100],"Actuator":[101],"(SEA)":[102],"approximate":[104],"wearer\u2019s":[106],"intended":[107],"future":[108],"movements":[109],"and":[110,139,201,207],"computes":[111],"corresponding":[113],"transparent":[114],"trajectory.":[116],"commands":[119],"are":[120],"complemented":[121],"by":[122],"Adaptive":[124],"Frequency":[125],"Oscillator":[126],"(AFO)":[127],"position":[129,199],"controller":[130,162],"leverages":[132],"periodic":[134],"nature":[135],"human":[137,150],"gait":[138,151],"modified":[141],"force":[144,184,196],"sensor":[145],"increased":[147],"reactiveness":[148],"variations.":[152],"experimentally":[156],"evaluated":[157],"against":[158],"standard":[160],"zero-torque":[161,193],"stationary":[165],"single-degree-of-freedom":[166],"knee":[167],"exoskeleton":[168],"test":[169],"platform":[170],"proof-of-concept":[173],"study.":[174],"Preliminary":[175],"results":[176],"indicate":[177],"combining":[179],"adaptive":[180],"oscillators":[181],"sensing":[185],"can":[186],"improve":[187],"compared":[189],"conventional":[192],"controller,":[194],"using":[195],"readings":[197],"measurements":[203],"control.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}