{"id":"https://openalex.org/W3130216878","doi":"https://doi.org/10.1109/iros45743.2020.9341110","title":"Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User","display_name":"Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130216878","doi":"https://doi.org/10.1109/iros45743.2020.9341110","mag":"3130216878"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5080345129","display_name":"Roopak M. Karulkar","orcid":"https://orcid.org/0000-0002-2126-1598"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Roopak M. Karulkar","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080345129"],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":0.0858,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.42141833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"3452","last_page":"3458"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980999827384949,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9045348167419434},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6236965656280518},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5931817293167114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5236156582832336},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.45580601692199707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4312751889228821},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.41386714577674866},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41041839122772217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.392614483833313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35737061500549316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34935563802719116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33106017112731934},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14526376128196716},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09678667783737183},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09359017014503479}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9045348167419434},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6236965656280518},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5931817293167114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5236156582832336},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.45580601692199707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4312751889228821},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.41386714577674866},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41041839122772217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.392614483833313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35737061500549316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34935563802719116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33106017112731934},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14526376128196716},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09678667783737183},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09359017014503479},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/iros45743.2020.9341110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.8700000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1512173993","https://openalex.org/W2000982104","https://openalex.org/W2009317155","https://openalex.org/W2014608001","https://openalex.org/W2035161901","https://openalex.org/W2039113886","https://openalex.org/W2066825169","https://openalex.org/W2082652131","https://openalex.org/W2094431141","https://openalex.org/W2101614124","https://openalex.org/W2105637477","https://openalex.org/W2109135013","https://openalex.org/W2111996293","https://openalex.org/W2118754959","https://openalex.org/W2122334056","https://openalex.org/W2126362307","https://openalex.org/W2129224530","https://openalex.org/W2167221577","https://openalex.org/W2254351200","https://openalex.org/W2502569300","https://openalex.org/W2785235942","https://openalex.org/W2799512474","https://openalex.org/W2810908822","https://openalex.org/W2964856450","https://openalex.org/W2967286846"],"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/W2590554196","https://openalex.org/W2593563634","https://openalex.org/W2591464318"],"abstract_inverted_index":{"This":[0],"paper":[1],"outlines":[2],"steps":[3],"toward":[4],"a":[5,103,113,119],"framework":[6,127],"for":[7,32],"model-based":[8],"user":[9],"intent":[10],"detection":[11],"to":[12,28,36,51,62,86,98,118,145,174,193],"enable":[13,49],"fluent":[14],"human-robot":[15],"interaction":[16],"in":[17,74,80,137,164,199],"assistive":[18],"exoskeletons.":[19],"An":[20],"interacting":[21],"multi-model":[22],"(IMM)":[23],"estimation":[24,31],"scheme":[25,44],"is":[26,155],"presented":[27],"address":[29],"state":[30],"lower-extremity":[33],"exoskeletons":[34],"and":[35,142,149,197],"handle":[37],"their":[38],"hybrid":[39,55],"dynamics.":[40],"The":[41,92,126],"proposed":[42,172],"IMM":[43,93,160,176],"includes":[45],"new":[46],"approaches":[47],"that":[48,59,157],"it":[50],"estimate":[52,146,194],"states":[53],"of":[54,72,106,151,167],"systems":[56],"with":[57,130,185],"dynamics":[58],"are":[60,110],"unique":[61],"each":[63,75],"phase.":[64],"Traditional":[65],"IMMs":[66],"only":[67],"consider":[68,87],"the":[69,78,158,171,175,182,191],"probabilistic":[70],"likelihood":[71,89,180],"being":[73],"phase,":[76,169],"while":[77,170],"implementation":[79],"this":[81],"work":[82],"has":[83],"been":[84],"modified":[85],"physical":[88,179],"as":[90],"well.":[91],"compares":[94],"exoskeleton":[95],"sensor":[96,131],"readings":[97],"multiple":[99],"candidate":[100],"gaits":[101,109],"from":[102,134],"template":[104],"model":[105],"walking.":[107],"Candidate":[108],"generated":[111],"using":[112,178],"numerical":[114],"optimization":[115],"procedure":[116],"applied":[117],"Bipedal":[120],"Spring-Loaded":[121],"Inverted":[122],"Pendulum":[123],"(B-SLIP)":[124],"model.":[125],"was":[128,143],"tested":[129],"data":[132,188],"acquired":[133],"walking":[135],"trials":[136],"an":[138],"Ekso":[139],"GT":[140],"exoskeleton,":[141],"used":[144],"gait":[147,168,195],"phase":[148,196],"center":[150],"mass":[152],"velocity.":[153],"It":[154],"shown":[156],"standard":[159],"filtering":[161],"approach":[162],"results":[163],"incorrect":[165],"estimates":[166],"addition":[173],"estimator":[177],"improves":[181],"estimates.":[183],"Results":[184],"human":[186],"subject":[187],"further":[189],"show":[190],"ability":[192],"speed":[198],"experimental":[200],"settings.":[201]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}