{"id":"https://openalex.org/W4312462834","doi":"https://doi.org/10.1109/iros47612.2022.9981685","title":"Vastus and Gastrocnemius improve hopping efficiency and joints synchronicity at different frequencies: a robotic study","display_name":"Vastus and Gastrocnemius improve hopping efficiency and joints synchronicity at different frequencies: a robotic study","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312462834","doi":"https://doi.org/10.1109/iros47612.2022.9981685"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981685","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012663809","display_name":"Omid Mohseni","orcid":"https://orcid.org/0000-0003-2601-1958"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Omid Mohseni","raw_affiliation_strings":["TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","institution_ids":[]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083696598","display_name":"Patrick Schmidt","orcid":"https://orcid.org/0000-0002-8727-6127"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Schmidt","raw_affiliation_strings":["TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","institution_ids":[]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Seyfarth","raw_affiliation_strings":["TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","institution_ids":[]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017524660","display_name":"Maziar A. Sharbafi","orcid":"https://orcid.org/0000-0001-5727-7527"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maziar A. Sharbafi","raw_affiliation_strings":["TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU,Lauflabor Locomotion Laboratory, Centre for Cognitive Science,Darmstadt,Germany","institution_ids":[]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Centre for Cognitive Science, TU, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11947","last_page":"11954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9997000098228455,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"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/ankle","display_name":"Ankle","score":0.6413300037384033},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.6012444496154785},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5721476078033447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5117161273956299},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38219189643859863},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.33403825759887695},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.24879306554794312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19515305757522583},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16331470012664795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1318875253200531},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09576860070228577}],"concepts":[{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6413300037384033},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.6012444496154785},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5721476078033447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5117161273956299},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38219189643859863},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.33403825759887695},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.24879306554794312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19515305757522583},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16331470012664795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1318875253200531},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09576860070228577}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981685","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4987118884","display_name":null,"funder_award_id":"AH307/2-1, AH307/4-1,SE1042/29-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1976685566","https://openalex.org/W2017434627","https://openalex.org/W2029903726","https://openalex.org/W2064657462","https://openalex.org/W2066155474","https://openalex.org/W2079574144","https://openalex.org/W2093132298","https://openalex.org/W2094486109","https://openalex.org/W2097766840","https://openalex.org/W2103998355","https://openalex.org/W2107998764","https://openalex.org/W2108358935","https://openalex.org/W2116655729","https://openalex.org/W2118290131","https://openalex.org/W2120094623","https://openalex.org/W2121227960","https://openalex.org/W2150529193","https://openalex.org/W2157796157","https://openalex.org/W2165575471","https://openalex.org/W2211898569","https://openalex.org/W2343715419","https://openalex.org/W2415965313","https://openalex.org/W2461218157","https://openalex.org/W2765837012","https://openalex.org/W2777823699","https://openalex.org/W2886359316","https://openalex.org/W2892123002","https://openalex.org/W2945022520","https://openalex.org/W2972415189","https://openalex.org/W2977284232","https://openalex.org/W3007488297","https://openalex.org/W3082800844","https://openalex.org/W3091485967","https://openalex.org/W3094321085","https://openalex.org/W3126382851","https://openalex.org/W3133426856","https://openalex.org/W3135956983","https://openalex.org/W3182293262","https://openalex.org/W3198708380","https://openalex.org/W3205812240","https://openalex.org/W4205854536","https://openalex.org/W4234635080","https://openalex.org/W4243571336","https://openalex.org/W4243767124","https://openalex.org/W4280563591","https://openalex.org/W4281711666","https://openalex.org/W6801328354"],"related_works":["https://openalex.org/W2104185603","https://openalex.org/W2056518890","https://openalex.org/W2411349177","https://openalex.org/W2356887275","https://openalex.org/W4245580097","https://openalex.org/W2158386141","https://openalex.org/W2131951563","https://openalex.org/W2966270549","https://openalex.org/W2042853044","https://openalex.org/W2986995742"],"abstract_inverted_index":{"The":[0,107,124,150],"lower":[1,44],"limb":[2,45],"morphology":[3],"of":[4,30,39,41,152,167],"biological":[5],"locomotors":[6],"is":[7,15,77,95,136],"abundant":[8],"in":[9,54],"muscle-tendon":[10],"units.":[11],"Yet,":[12],"not":[13],"much":[14],"known":[16],"about":[17],"how":[18],"these":[19],"actuation":[20,163],"units":[21],"contribute":[22],"to":[23,101,116,121,158],"the":[24,37,42,73,99,111,114,139,142],"output":[25],"performance":[26],"and":[27,51,86,145,164],"energy":[28],"economy":[29],"movements.":[31],"In":[32],"this":[33,153],"work,":[34],"we":[35],"investigate":[36],"functionality":[38],"four":[40],"important":[43],"muscles":[46,64,70,168],"-":[47,53],"Vastus,":[48],"Popliteus,":[49],"Soleus,":[50],"Gastrocnemius":[52,126,140],"a":[55,78],"hopping":[56,103,118],"task":[57],"at":[58,104,119,131],"different":[59,105],"frequencies":[60],"(1.5-3.5":[61],"Hz).":[62],"These":[63],"are":[65],"implemented":[66,97],"as":[67],"pneumatic":[68],"artificial":[69],"(PAMs)":[71],"on":[72,98],"EPA-Hopper-II":[74],"robot,":[75],"which":[76],"human-sized":[79],"3-segmented":[80],"leg":[81],"co-actuated":[82],"by":[83],"electrical":[84],"motors":[85],"PAMs.":[87],"A":[88],"bioinspired":[89],"reflex-based":[90],"Force":[91],"Modulated":[92],"Control":[93],"(FMC)":[94],"also":[96,127],"robot":[100],"achieve":[102],"frequencies.":[106,123,133],"results":[108],"show":[109],"that":[110,138],"Vastus":[112],"contributes":[113],"most":[115],"energy-efficient":[117],"low":[120,132],"mid":[122],"biarticular":[125],"helps":[128],"increase":[129],"efficiency":[130],"Further,":[134],"it":[135],"found":[137],"synchronizes":[141],"knee-ankle":[143],"motion":[144],"mitigates":[146],"lateral":[147],"knee":[148],"motion.":[149],"outcomes":[151],"work":[154],"add":[155],"further":[156],"evidence":[157],"hypotheses":[159],"regarding":[160],"human":[161],"lower-limb":[162],"proper":[165],"recruitment":[166],"for":[169],"building":[170],"more":[171],"efficient":[172],"robots.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}