{"id":"https://openalex.org/W2039793308","doi":"https://doi.org/10.1109/iros.2012.6385834","title":"An interaction-torque controller for robotic exoskeletons with flexible joints: Preliminary experimental results","display_name":"An interaction-torque controller for robotic exoskeletons with flexible joints: Preliminary experimental results","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2039793308","doi":"https://doi.org/10.1109/iros.2012.6385834","mag":"2039793308"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5065492597","display_name":"Rocco Vertechy","orcid":"https://orcid.org/0000-0002-0634-1661"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"R. Vertechy","raw_affiliation_strings":["PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Frisoli","raw_affiliation_strings":["PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Solazzi","raw_affiliation_strings":["PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006755029","display_name":"D. Pellegrinetti","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. Pellegrinetti","raw_affiliation_strings":["PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057697306","display_name":"Massimo Bergamasco","orcid":"https://orcid.org/0000-0002-7418-2332"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Bergamasco","raw_affiliation_strings":["PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore SantAnna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO laboratory of the TeCIP Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065492597"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.9197,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.759495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2000","issue":null,"first_page":"335","last_page":"340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9991999864578247,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9939000010490417,"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":0.9563000202178955,"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":0.8913853168487549},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8189371228218079},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7551411390304565},{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.6343991160392761},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6030769944190979},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5217835903167725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.517753541469574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46429452300071716},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.458988755941391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4449816346168518},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29542380571365356},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2766256630420685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11763331294059753},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07872849702835083}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8913853168487549},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8189371228218079},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7551411390304565},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.6343991160392761},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6030769944190979},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5217835903167725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.517753541469574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46429452300071716},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.458988755941391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4449816346168518},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29542380571365356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2766256630420685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11763331294059753},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07872849702835083},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":3,"locations":[{"id":"doi:10.1109/iros.2012.6385834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/384447","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/384447","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.iris.sssup.it:11382/372250","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/372250","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W305219788","https://openalex.org/W1513008436","https://openalex.org/W1578038264","https://openalex.org/W1863556321","https://openalex.org/W1881298966","https://openalex.org/W1966395951","https://openalex.org/W2035498287","https://openalex.org/W2073874574","https://openalex.org/W2096816790","https://openalex.org/W2102552673","https://openalex.org/W2104181254","https://openalex.org/W2111221874","https://openalex.org/W2126663592","https://openalex.org/W2136348177","https://openalex.org/W2137499299","https://openalex.org/W2139025014","https://openalex.org/W2140280613","https://openalex.org/W2145036920","https://openalex.org/W2145478262","https://openalex.org/W2147538068","https://openalex.org/W2158583539","https://openalex.org/W2164983819","https://openalex.org/W2168944337","https://openalex.org/W2490168164","https://openalex.org/W4245293806","https://openalex.org/W4250904644","https://openalex.org/W6610798190","https://openalex.org/W6634559319","https://openalex.org/W6641781669","https://openalex.org/W6674656577"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,35,38,60,65,75,86,90,96],"development":[4],"of":[5,26,37,89],"an":[6,27],"interaction-torque":[7],"control":[8,29,71],"architecture":[9,24],"for":[10],"a":[11],"rehabilitation":[12],"exoskeleton":[13],"(RehabExos)":[14],"with":[15,19,69],"flexible":[16],"joints":[17],"equipped":[18],"internal":[20],"torque":[21],"sensors.":[22],"The":[23,49],"consists":[25],"outer":[28,66],"loop,":[30],"which":[31,84],"is":[32,77],"based":[33],"on":[34,41],"kineto-statics":[36],"RehabExos,":[39],"and":[40,56,81],"four":[42],"identical-independent":[43],"inner":[44],"full-state":[45],"joint-torque":[46],"controllers":[47],"(IJTFC).":[48],"considered":[50],"IJTFC":[51,92],"demonstrate":[52],"good":[53],"stability,":[54],"responsiveness":[55],"accuracy":[57],"in":[58,94],"tracking":[59],"desired":[61],"torques":[62],"generated":[63],"by":[64],"controller.":[67],"Comparison":[68],"other":[70],"strategies":[72],"available":[73],"from":[74],"literature":[76],"shown":[78],"via":[79],"analytical":[80],"experimental":[82],"results,":[83],"highlight":[85],"improved":[87],"performances":[88],"proposed":[91],"method":[93],"controlling":[95],"RehabExos":[97],"robot.":[98]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}