{"id":"https://openalex.org/W3003233771","doi":"https://doi.org/10.1109/indin41052.2019.8972220","title":"Performance Analysis of Torque-sensorless Assist Control of a Powered Exoskeleton Using Highly Back-drivable Actuators","display_name":"Performance Analysis of Torque-sensorless Assist Control of a Powered Exoskeleton Using Highly Back-drivable Actuators","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W3003233771","doi":"https://doi.org/10.1109/indin41052.2019.8972220","mag":"3003233771"},"language":"en","primary_location":{"id":"doi:10.1109/indin41052.2019.8972220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin41052.2019.8972220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 17th International Conference on Industrial Informatics (INDIN)","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/A5054144883","display_name":"Yoshiki Kanai","orcid":null},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoshiki Kanai","raw_affiliation_strings":["Yokohama National University,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, Yokohama National University"],"affiliations":[{"raw_affiliation_string":"Yokohama National University,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutaka Fujimoto","raw_affiliation_strings":["Yokohama National University,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, Yokohama National University"],"affiliations":[{"raw_affiliation_string":"Yokohama National University,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054144883"],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":0.3912,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.60356834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"577","last_page":"582"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9894000291824341,"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":0.9783999919891357,"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":0.969923734664917},{"id":"https://openalex.org/keywords/operability","display_name":"Operability","score":0.928874135017395},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7828975915908813},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7396200895309448},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5689495801925659},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5461938381195068},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.521893322467804},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5208926200866699},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4708525538444519},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.464630663394928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46377697587013245},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46325692534446716},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42563366889953613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4076997637748718},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4031431972980499},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.37911751866340637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17050233483314514},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.09272599220275879},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08878108859062195}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.969923734664917},{"id":"https://openalex.org/C126231374","wikidata":"https://www.wikidata.org/wiki/Q1061298","display_name":"Operability","level":2,"score":0.928874135017395},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7828975915908813},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7396200895309448},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5689495801925659},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5461938381195068},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.521893322467804},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5208926200866699},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4708525538444519},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.464630663394928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46377697587013245},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46325692534446716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42563366889953613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4076997637748718},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4031431972980499},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.37911751866340637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17050233483314514},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.09272599220275879},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08878108859062195},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin41052.2019.8972220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin41052.2019.8972220","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 17th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1998302613","https://openalex.org/W2096347511","https://openalex.org/W2105601634","https://openalex.org/W2139462466","https://openalex.org/W2149744701","https://openalex.org/W2344595312","https://openalex.org/W2573227850","https://openalex.org/W2599869952","https://openalex.org/W2737768136","https://openalex.org/W2781999526","https://openalex.org/W2906683640"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W4313421420","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W4388283394","https://openalex.org/W3003233771","https://openalex.org/W2048579664"],"abstract_inverted_index":{"For":[0],"human":[1,24],"motion":[2],"support,":[3],"there":[4],"is":[5,19,28,61],"an":[6,96],"active":[7],"focus":[8],"on":[9],"research":[10],"and":[11,63,102,106,119],"development":[12],"of":[13,34,86,95,108,115],"powered":[14,17,46],"exoskeletons.":[15],"A":[16],"exoskeleton":[18,47,97],"directly":[20],"fitted":[21],"to":[22,30],"the":[23,32,35,40,78,91,104,109,120],"body;":[25],"thus,":[26],"it":[27],"necessary":[29],"consider":[31],"safety":[33],"human-robot":[36],"interaction,":[37],"including":[38],"improving":[39],"back-drivability.":[41],"Toward":[42],"this":[43],"problem,":[44],"a":[45,50,57,64,73,113,126],"that":[48,123],"uses":[49],"highly":[51],"back-drivable":[52],"reduction":[53,59],"gearbox":[54],"even":[55,76],"at":[56],"high":[58,82,127],"ratio":[60,85],"proposed,":[62],"user's":[65],"external":[66],"force":[67],"can":[68],"be":[69],"estimated":[70],"without":[71],"using":[72],"torque":[74],"sensor":[75],"though":[77],"system":[79],"has":[80],"very":[81],"total":[83],"gear":[84],"408.57:1.":[87],"This":[88],"paper":[89],"investigated":[90],"apparent":[92],"mechanical":[93,121],"impedance":[94,122],"during":[98],"assist":[99,110],"control":[100],"execution":[101],"examined":[103,130],"performance":[105],"operability":[107,128],"control.":[111,134],"Finally,":[112],"questionnaire":[114],"participants":[116],"was":[117,129],"conducted":[118],"resulted":[124],"in":[125],"by":[131],"implementing":[132],"admittance":[133]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
