{"id":"https://openalex.org/W2099846844","doi":"https://doi.org/10.1109/iros.2009.5354293","title":"A new compliant motion control design of a walking-help robot based on motor current and speed measurement","display_name":"A new compliant motion control design of a walking-help robot based on motor current and speed measurement","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2099846844","doi":"https://doi.org/10.1109/iros.2009.5354293","mag":"2099846844"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5083629950","display_name":"Kai\u2010Tai Song","orcid":"https://orcid.org/0000-0003-1728-4057"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Kai-Tai Song","raw_affiliation_strings":["[Department of Electrical Engineering, National Chiao-Tung University, Hsinchu, Taiwan]"],"affiliations":[{"raw_affiliation_string":"[Department of Electrical Engineering, National Chiao-Tung University, Hsinchu, Taiwan]","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064038257","display_name":"Chen-Yang Lin","orcid":"https://orcid.org/0000-0002-2839-5425"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Yang Lin","raw_affiliation_strings":["[Department of Electrical Engineering, National Chiao-Tung University, Hsinchu, Taiwan]"],"affiliations":[{"raw_affiliation_string":"[Department of Electrical Engineering, National Chiao-Tung University, Hsinchu, Taiwan]","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083629950"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":0.667,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.7244829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4493","last_page":"4498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9990000128746033,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6514064073562622},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.641285240650177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685332417488098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5498353838920593},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5130811929702759},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4940510094165802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49113938212394714},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4770621359348297},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4732663631439209},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47059667110443115},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4486966133117676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2608036398887634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22046402096748352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1645270586013794},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12301766872406006}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6514064073562622},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.641285240650177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685332417488098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5498353838920593},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5130811929702759},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4940510094165802},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49113938212394714},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4770621359348297},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4732663631439209},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47059667110443115},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4486966133117676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2608036398887634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22046402096748352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1645270586013794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12301766872406006},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":12,"referenced_works":["https://openalex.org/W1537959710","https://openalex.org/W1930899833","https://openalex.org/W2105305457","https://openalex.org/W2106594493","https://openalex.org/W2119203320","https://openalex.org/W2122290439","https://openalex.org/W2143119159","https://openalex.org/W2144512747","https://openalex.org/W2148564844","https://openalex.org/W2152897465","https://openalex.org/W2158078627","https://openalex.org/W2171274361"],"related_works":["https://openalex.org/W3192036299","https://openalex.org/W2146428417","https://openalex.org/W1515319340","https://openalex.org/W3176458675","https://openalex.org/W2561776955","https://openalex.org/W2138120972","https://openalex.org/W2357831471","https://openalex.org/W576983769","https://openalex.org/W2979398413","https://openalex.org/W1532677580"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,40,109],"novel":[4],"compliant":[5],"motion":[6,55,127],"controller":[7],"design":[8],"for":[9],"an":[10,17,32],"omni-directional":[11,118],"mobile":[12,37],"robot.":[13],"In":[14,51],"this":[15,52],"design,":[16],"external":[18,96],"force":[19,64,97,107],"observer":[20,98],"is":[21,57,121],"developed":[22],"based":[23],"on":[24,111],"measuring":[25],"motor":[26],"current":[27],"and":[28,49],"speed":[29],"without":[30],"using":[31],"expensive":[33],"force/torque":[34],"sensor.":[35],"The":[36,114],"robot":[38],"has":[39],"handrail":[41],"to":[42,46,124],"assist":[43],"the":[44,62,66,73,76,87,95,101,112,117,125],"elderly":[45],"walk":[47],"safely":[48],"stably.":[50],"application,":[53],"adaptive":[54],"compliance":[56,74],"required":[58],"in":[59],"accordance":[60],"with":[61],"applied":[63],"of":[65,75,86,108,116],"user.":[67],"Practical":[68],"experimental":[69],"results":[70],"show":[71],"that":[72,94],"walking":[77,119],"helper":[78,120],"can":[79],"be":[80],"adjusted":[81,122],"by":[82],"setting":[83],"dynamic":[84],"coefficients":[85],"overall":[88],"dynamical":[89],"system.":[90],"It":[91],"was":[92],"demonstrated":[93],"successfully":[99],"detected":[100],"pushing":[102],"as":[103,105],"well":[104],"pulling":[106],"user":[110],"handrail.":[113],"velocity":[115],"according":[123],"inferred":[126],"intent.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
