{"id":"https://openalex.org/W2550154484","doi":"https://doi.org/10.1109/iecon.2014.7049298","title":"An approach to walking assist control by a multi-legged system in human gait motion","display_name":"An approach to walking assist control by a multi-legged system in human gait motion","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W2550154484","doi":"https://doi.org/10.1109/iecon.2014.7049298","mag":"2550154484"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2014.7049298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7049298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","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/A5101791498","display_name":"Chuan Yang","orcid":"https://orcid.org/0000-0003-1367-9238"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chuan Yang","raw_affiliation_strings":["School of Integrated Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Integrated Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076792354","display_name":"Toshiyuki Murakami","orcid":"https://orcid.org/0000-0001-8611-9755"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiyuki Murakami","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2472,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65518188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5236","last_page":"5241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9919000267982483,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7776910662651062},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7339396476745605},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5212617516517639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5103451609611511},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.5023033618927002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48674774169921875},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.45641782879829407},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4429454505443573},{"id":"https://openalex.org/keywords/waist","display_name":"Waist","score":0.44135624170303345},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.43714290857315063},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33272889256477356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3010302484035492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24750381708145142},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08474031090736389},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08443033695220947}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7776910662651062},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7339396476745605},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5212617516517639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5103451609611511},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.5023033618927002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48674774169921875},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.45641782879829407},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4429454505443573},{"id":"https://openalex.org/C2776193436","wikidata":"https://www.wikidata.org/wiki/Q236232","display_name":"Waist","level":3,"score":0.44135624170303345},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.43714290857315063},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33272889256477356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3010302484035492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24750381708145142},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08474031090736389},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08443033695220947},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C511355011","wikidata":"https://www.wikidata.org/wiki/Q12174","display_name":"Obesity","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2014.7049298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7049298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1484523561","https://openalex.org/W1980547555","https://openalex.org/W2065671691","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2116114068","https://openalex.org/W2118390048","https://openalex.org/W2120411157","https://openalex.org/W2154128597","https://openalex.org/W2160146756","https://openalex.org/W2517291573","https://openalex.org/W4242059591","https://openalex.org/W6628940904","https://openalex.org/W6677466784"],"related_works":["https://openalex.org/W2356006086","https://openalex.org/W2545168295","https://openalex.org/W1973973903","https://openalex.org/W2365897603","https://openalex.org/W4234814094","https://openalex.org/W2156308897","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820"],"abstract_inverted_index":{"Lacking":[0],"in":[1,47,121,138,182,191],"adequate":[2],"care":[3],"for":[4,19,41,80],"the":[5,20,42,70,91,129,134,141,156,163,166,188],"elders,":[6],"especially":[7],"those":[8],"who":[9,25],"are":[10,66,86],"walking":[11,46,57,92],"with":[12,27],"inconvenience":[13],"is":[14,34,38,76,136,179],"becoming":[15],"a":[16,105,109,116],"growing":[17],"problem":[18,74],"aging":[21],"society.":[22],"The":[23,99,185],"elders":[24,43,142],"walk":[26],"inconvenience,":[28],"once":[29],"they":[30],"fall":[31,143],"down,":[32],"it":[33],"very":[35],"dangerous.":[36],"It":[37],"also":[39,180],"necessary":[40],"to":[44,49,68,132,165],"exercise":[45],"order":[48],"keep":[50],"normal":[51],"social":[52],"life.":[53],"Many":[54],"kinds":[55],"of":[56,64,159,187],"aids":[58],"have":[59],"been":[60,195],"developed,":[61],"but":[62],"most":[63],"them":[65],"fail":[67],"avoid":[69],"elders'":[71],"falling":[72],"down":[73],"which":[75],"an":[77],"important":[78],"issue":[79],"aged":[81],"care.":[82],"So":[83],"far,":[84],"there":[85],"few":[87],"researches":[88],"focusing":[89],"on":[90,150],"cooperation":[93],"between":[94],"human":[95,151,171],"and":[96,115,119,161],"legged":[97],"robot.":[98],"Inertial":[100],"Measurement":[101],"Unit":[102],"(IMU)":[103],"contains":[104],"triaxial":[106,110,117],"(3-D)":[107],"accelerometer,":[108],"gyro":[111],"(angular":[112],"rate":[113],"sensor)":[114],"magnetometer,":[118],"consequently":[120],"this":[122,183,192],"paper,":[123],"one":[124],"IMU":[125],"sensor":[126],"fixed":[127],"near":[128],"elder's":[130],"waist":[131],"measure":[133,155],"posture":[135],"proposed":[137,167,190],"case":[139],"that":[140],"down.":[144],"Two":[145],"short":[146],"encoder":[147],"links":[148],"tied":[149],"two":[152],"legs":[153],"can":[154],"rotate":[157],"angles":[158],"thign":[160],"supply":[162],"command":[164],"device.":[168],"To":[169],"make":[170],"feel":[172],"comfortable":[173],"under":[174],"various":[175],"situation,":[176],"impedance":[177],"control":[178],"employed":[181],"system.":[184],"performance":[186],"approach":[189],"paper":[193],"has":[194],"examined":[196],"by":[197],"experiments.":[198]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
