{"id":"https://openalex.org/W2152476535","doi":"https://doi.org/10.1109/iros.2007.4399356","title":"Lower limbs movement restoration using input-output feedback linearization and model predictive control","display_name":"Lower limbs movement restoration using input-output feedback linearization and model predictive control","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2152476535","doi":"https://doi.org/10.1109/iros.2007.4399356","mag":"2152476535"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5011742024","display_name":"Samer Mohammed","orcid":"https://orcid.org/0000-0001-6738-4529"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Samer Mohammed","raw_affiliation_strings":["AIST-CNRS Joint Japanese-French Robotics Laboratory, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIST-CNRS Joint Japanese-French Robotics Laboratory, Tsukuba, Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064237897","display_name":"Philippe Poignet","orcid":"https://orcid.org/0000-0003-3574-4387"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Poignet","raw_affiliation_strings":["LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007124393","display_name":"David Guiraud","orcid":"https://orcid.org/0000-0002-4184-6243"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Guiraud","raw_affiliation_strings":["LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, CNRS, INRIA, University of Montpellier 2, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2696,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.6495724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"36","issue":null,"first_page":"1945","last_page":"1950"},"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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/control-theory","display_name":"Control theory (sociology)","score":0.8804841041564941},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7402830719947815},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6933492422103882},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6754999756813049},{"id":"https://openalex.org/keywords/functional-electrical-stimulation","display_name":"Functional electrical stimulation","score":0.6633195281028748},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.520962119102478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.518580436706543},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4960997998714447},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4452562630176544},{"id":"https://openalex.org/keywords/output-feedback","display_name":"Output feedback","score":0.4392624497413635},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32966122031211853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22456803917884827},{"id":"https://openalex.org/keywords/stimulation","display_name":"Stimulation","score":0.18264225125312805},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16728654503822327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15641635656356812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0908343493938446},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07819408178329468}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8804841041564941},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7402830719947815},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6933492422103882},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6754999756813049},{"id":"https://openalex.org/C2777766275","wikidata":"https://www.wikidata.org/wiki/Q1327643","display_name":"Functional electrical stimulation","level":3,"score":0.6633195281028748},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.520962119102478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.518580436706543},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4960997998714447},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4452562630176544},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.4392624497413635},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32966122031211853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22456803917884827},{"id":"https://openalex.org/C24998067","wikidata":"https://www.wikidata.org/wiki/Q4114622","display_name":"Stimulation","level":2,"score":0.18264225125312805},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16728654503822327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15641635656356812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0908343493938446},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07819408178329468},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00194986v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00194986","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.1945-1950","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W153824726","https://openalex.org/W786074252","https://openalex.org/W1485467598","https://openalex.org/W1487127700","https://openalex.org/W1577238357","https://openalex.org/W1887006513","https://openalex.org/W1997861712","https://openalex.org/W2095503018","https://openalex.org/W2113821729","https://openalex.org/W2138251506","https://openalex.org/W2138362284","https://openalex.org/W2139686010","https://openalex.org/W2157560642","https://openalex.org/W2165019191","https://openalex.org/W2256578114","https://openalex.org/W3160954918","https://openalex.org/W4229667009","https://openalex.org/W4292872153","https://openalex.org/W6629040409","https://openalex.org/W6634463681","https://openalex.org/W6680829601"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W4300511988","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2964841342"],"abstract_inverted_index":{"The":[0],"main":[1],"challenge":[2],"that":[3,37],"we":[4],"face":[5],"when":[6],"applying":[7],"functional":[8],"electrical":[9],"stimulation":[10,59],"(FES)":[11],"to":[12,17,21,33,54,61,89,110],"paralyzed":[13,35],"lower":[14],"limbs":[15],"is":[16,31],"avoid":[18],"hyperstimulation":[19],"and":[20,41,96,105,121],"defer":[22],"the":[23,56,68,73],"muscular":[24],"fatigue":[25],"as":[26,28],"much":[27],"possible.":[29],"FES":[30],"used":[32],"excite":[34],"muscles":[36],"are":[38],"under":[39],"lesions":[40],"consequently":[42],"no":[43],"more":[44],"controlled":[45],"by":[46],"paraplegic":[47],"patients.":[48],"We":[49,71],"aimed":[50],"in":[51,116],"this":[52],"study":[53],"compute":[55],"needed":[57],"patterns":[58],"necessary":[60],"perform":[62],"a":[63,80,111],"desired":[64],"given":[65],"motion":[66],"of":[67,118],"knee":[69],"joint.":[70],"coupled":[72],"exact":[74],"input":[75],"output":[76],"feedback":[77],"linearization":[78],"with":[79],"model":[81],"predictive":[82],"controller":[83,115],"(MPC).":[84],"This":[85],"latter":[86],"enables":[87],"us":[88],"incorporate":[90],"explicitly":[91],"constraints":[92],"on":[93],"inputs,":[94],"outputs":[95],"system":[97],"states.":[98],"Internal":[99],"dynamics":[100],"stability":[101,120],"was":[102],"mathematically":[103],"proved":[104],"MPC":[106],"performances":[107],"were":[108],"compared":[109],"classical":[112],"pole":[113],"placement":[114],"terms":[117],"robustness,":[119],"finite":[122],"time":[123],"convergence.":[124]},"counts_by_year":[{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}