{"id":"https://openalex.org/W2104536749","doi":"https://doi.org/10.1109/irds.2002.1043967","title":"Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint","display_name":"Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2104536749","doi":"https://doi.org/10.1109/irds.2002.1043967","mag":"2104536749"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1043967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},"type":"conference-paper","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/A5035851292","display_name":"S. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Lee","raw_affiliation_strings":["University of Tsukuba, Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039658736","display_name":"Yoshiyuki Sankai","orcid":"https://orcid.org/0000-0002-6345-1541"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Sankai","raw_affiliation_strings":["University of Tsukuba, Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":13.8111,"has_fulltext":false,"cited_by_count":290,"citation_normalized_percentile":{"value":0.99203299,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1499","last_page":"1504"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998999834060669,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.6786502003669739},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6398221850395203},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6378035545349121},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5705276131629944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5106680989265442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4918801784515381},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47083237767219543},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.45832785964012146},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4558817148208618},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.45492783188819885},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4469006061553955},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4169842004776001},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.37906521558761597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26701995730400085},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21207517385482788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15373310446739197},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13696014881134033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13535845279693604},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12639805674552917},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09743672609329224},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07918697595596313},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06338468194007874}],"concepts":[{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.6786502003669739},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6398221850395203},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6378035545349121},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5705276131629944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5106680989265442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4918801784515381},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47083237767219543},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.45832785964012146},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4558817148208618},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.45492783188819885},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4469006061553955},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4169842004776001},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.37906521558761597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26701995730400085},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21207517385482788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15373310446739197},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13696014881134033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13535845279693604},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12639805674552917},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09743672609329224},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07918697595596313},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06338468194007874},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","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},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1043967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1043967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1543214689","https://openalex.org/W2102795121","https://openalex.org/W2107309239","https://openalex.org/W2168117107","https://openalex.org/W3178159043","https://openalex.org/W6632555981","https://openalex.org/W6798222057"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2172274897","https://openalex.org/W1568936204","https://openalex.org/W1500387900"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,34,51,74,104,111,118,124,129,134,145],"power":[4,60],"assist":[5,36,61],"control":[6,31,37],"for":[7,57,64],"walking":[8,68],"aid":[9],"based":[10,97],"on":[11,98],"EMG":[12,25,99,114],"and":[13,33,67,133],"impedance":[14,52,78],"adjustment":[15,53],"with":[16,77],"HAL-3":[17],"we":[18,49],"have":[19],"developed.":[20],"Virtual":[21],"torque":[22],"derived":[23],"from":[24],"is":[26],"adopted":[27],"as":[28,38],"a":[29,95],"basic":[30],"method,":[32],"motion":[35,66,69,91],"to":[39,72,103,122,147],"operator's":[40,105],"intention":[41],"can":[42],"be":[43,141],"realized":[44],"by":[45,81,94,127,143],"this":[46],"method.":[47,86],"And":[48],"suggest":[50],"around":[54,131],"knee":[55,137],"joint":[56],"more":[58],"effective":[59],"control.":[62],"Experiments":[63],"simple":[65],"were":[70,115],"performed":[71],"verify":[73],"proposed":[75],"approach,":[76],"parameters":[79],"found":[80],"RLS":[82],"(recursive":[83],"least":[84],"square)":[85],"The":[87,108],"evaluation":[88],"of":[89,113,136],"assisted":[90],"was":[92,120],"done":[93],"calculation":[96],"in":[100,138],"nearly":[101],"proportion":[102],"muscle":[106],"force.":[107],"results":[109],"showed":[110],"amplitudes":[112],"reduced":[116],"significantly,":[117],"operator":[119],"able":[121],"swing":[123],"leg":[125],"lighter":[126],"reducing":[128],"inertia":[130],"knee,":[132],"strain":[135],"foot-grounding":[139],"could":[140],"alleviated":[142],"adding":[144],"stiffness":[146],"joint.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":29},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":18},{"year":2014,"cited_by_count":20},{"year":2013,"cited_by_count":19},{"year":2012,"cited_by_count":22}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
