{"id":"https://openalex.org/W2150054216","doi":"https://doi.org/10.1109/iros.2009.5354820","title":"Estimation of foot orientation with respect to ground for an above knee robotic prosthesis","display_name":"Estimation of foot orientation with respect to ground for an above knee robotic prosthesis","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2150054216","doi":"https://doi.org/10.1109/iros.2009.5354820","mag":"2150054216"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354820","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/A5050216616","display_name":"Glauco Garcia Scandaroli","orcid":null},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Glauco Garcia Scandaroli","raw_affiliation_strings":["Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041680864","display_name":"Geovany A. Borges","orcid":"https://orcid.org/0000-0003-4265-9471"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Geovany Araujo Borges","raw_affiliation_strings":["Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033610976","display_name":"Jo\u00e3o Y. Ishihara","orcid":"https://orcid.org/0000-0002-5916-0207"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Joao Yoshiyuki Ishihara","raw_affiliation_strings":["Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Automation and Vision Group (GRAV), University of Bras\u00edlia, Bras\u00edlia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Marco Henrique Terra","orcid":null},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marco Henrique Terra","raw_affiliation_strings":["University of S\u00e3o Paulo at S\u00e3o Carlos, Sao Paulo, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S\u00e3o Paulo at S\u00e3o Carlos, Sao Paulo, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046527156","display_name":"Adson Ferreira da Rocha","orcid":"https://orcid.org/0000-0003-4532-1791"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Adson Ferreira da Rocha","raw_affiliation_strings":["Department of Electrical Engineering, University of Bras\u00edlia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Bras\u00edlia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042728283","display_name":"Francisco Assis de Oliveira Nascimento","orcid":"https://orcid.org/0000-0002-8217-1983"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Francisco Assis de Oliveira Nascimento","raw_affiliation_strings":["Department of Electrical Engineering, University of Bras\u00edlia, Bras\u00edlia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Bras\u00edlia, Bras\u00edlia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4593,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.69739109,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1112","last_page":"1117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9959999918937683,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7778884768486023},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7018715143203735},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6253268122673035},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6018812656402588},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.5648365020751953},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5254843831062317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5175939798355103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5037323832511902},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4643080532550812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.456870973110199},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.4484902024269104},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.43141621351242065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40442314743995667},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3551499843597412},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30657249689102173},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1931557059288025},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1322719156742096},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0924253761768341}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7778884768486023},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7018715143203735},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6253268122673035},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6018812656402588},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5648365020751953},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5254843831062317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5175939798355103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5037323832511902},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4643080532550812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.456870973110199},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.4484902024269104},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.43141621351242065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40442314743995667},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3551499843597412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30657249689102173},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1931557059288025},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1322719156742096},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0924253761768341},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354820","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":20,"referenced_works":["https://openalex.org/W105677804","https://openalex.org/W204707219","https://openalex.org/W2001998296","https://openalex.org/W2077458356","https://openalex.org/W2098682658","https://openalex.org/W2114812487","https://openalex.org/W2125465450","https://openalex.org/W2132263539","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2293807537","https://openalex.org/W2540393540","https://openalex.org/W2571331381","https://openalex.org/W2790374560","https://openalex.org/W2794413559","https://openalex.org/W4285719527","https://openalex.org/W6604267887","https://openalex.org/W6608272317","https://openalex.org/W6676800043","https://openalex.org/W6731982190"],"related_works":["https://openalex.org/W2096429409","https://openalex.org/W2791650347","https://openalex.org/W2055564519","https://openalex.org/W4211223028","https://openalex.org/W4233182069","https://openalex.org/W2741479573","https://openalex.org/W2404376222","https://openalex.org/W2776869443","https://openalex.org/W1912506680","https://openalex.org/W3009133210"],"abstract_inverted_index":{"This":[0,33],"paper":[1,103],"presents":[2],"a":[3,16,25,70,91],"new":[4],"application":[5,34],"in":[6,56,76,83,90,101],"the":[7,22,41,60,77,81,84,95,105],"field":[8],"of":[9,15,21,24,40,107],"rehabilitation":[10],"robotics.":[11],"It":[12],"is":[13,54,73],"part":[14],"research":[17],"project":[18],"which":[19],"consists":[20],"development":[23],"robotic":[26],"leg":[27],"prosthesis":[28,42,96],"for":[29,94],"above":[30],"knee":[31],"amputees.":[32],"aims":[35],"at":[36],"providing":[37],"real-time":[38],"estimates":[39],"foot":[43,61],"orientation":[44,62],"with":[45],"respect":[46],"to":[47,58,79],"ground.":[48],"An":[49],"Extended":[50],"Kalman":[51],"Filter":[52],"(EKF)":[53],"used":[55],"order":[57],"estimate":[59],"based":[63],"on":[64],"gyroscope":[65],"and":[66],"infrared":[67],"measurements.":[68],"Moreover":[69],"constraint":[71],"equation":[72],"also":[74],"included":[75],"EKF":[78],"guarantee":[80],"constraints":[82],"estimates.":[85],"Preliminary":[86],"tests":[87],"were":[88],"performed":[89],"platform":[92],"built":[93],"prototype.":[97],"The":[98],"results":[99],"discussed":[100],"this":[102],"reveal":[104],"feasibility":[106],"such":[108],"technique.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
