{"id":"https://openalex.org/W4200169400","doi":"https://doi.org/10.1109/iros51168.2021.9636562","title":"Gaussian Process Regression for COP Trajectory Estimation in Healthy and Pathological Gait Using Instrumented Insoles","display_name":"Gaussian Process Regression for COP Trajectory Estimation in Healthy and Pathological Gait Using Instrumented Insoles","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200169400","doi":"https://doi.org/10.1109/iros51168.2021.9636562"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636562","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5046174279","display_name":"Ton T. H. Duong","orcid":"https://orcid.org/0000-0002-2529-5875"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ton T. H. Duong","raw_affiliation_strings":["Stanford University School of Medicine, Stanford, CA, USA","Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University School of Medicine, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026198591","display_name":"David Uher","orcid":"https://orcid.org/0000-0003-4360-8801"},"institutions":[{"id":"https://openalex.org/I2799503643","display_name":"Columbia University Irving Medical Center","ror":"https://ror.org/01esghr10","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799503643"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Uher","raw_affiliation_strings":["Columbia University Irving Medical Center, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University Irving Medical Center, New York, NY, USA","institution_ids":["https://openalex.org/I2799503643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023381652","display_name":"Sally Dunaway Young","orcid":"https://orcid.org/0000-0001-9322-0608"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sally Dunaway Young","raw_affiliation_strings":["Stanford University School of Medicine, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University School of Medicine, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017292139","display_name":"Tina Duong","orcid":"https://orcid.org/0000-0003-3177-4722"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tina Duong","raw_affiliation_strings":["Stanford University School of Medicine, Stanford, CA, USA","Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University School of Medicine, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048436703","display_name":"Monica Sangco","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Monica Sangco","raw_affiliation_strings":["Stanford University School of Medicine, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University School of Medicine, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034250962","display_name":"Kayla Cornett","orcid":"https://orcid.org/0000-0002-9863-1040"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I2802384191","display_name":"Children's Hospital at Westmead","ror":"https://ror.org/05k0s5494","country_code":"AU","type":"healthcare","lineage":["https://openalex.org/I2802384191"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kayla Cornett","raw_affiliation_strings":["The University of Sydney & The Children\u2019s Hospital at Westmead, Sydney, Australia","The University of Sydney & The Children's Hospital at Westmead, Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Sydney & The Children\u2019s Hospital at Westmead, Sydney, Australia","institution_ids":["https://openalex.org/I2802384191","https://openalex.org/I129604602"]},{"raw_affiliation_string":"The University of Sydney & The Children's Hospital at Westmead, Sydney, Australia","institution_ids":["https://openalex.org/I2802384191","https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017185598","display_name":"Jacqueline Montes","orcid":"https://orcid.org/0000-0002-7357-0819"},"institutions":[{"id":"https://openalex.org/I2799503643","display_name":"Columbia University Irving Medical Center","ror":"https://ror.org/01esghr10","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799503643"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacqueline Montes","raw_affiliation_strings":["Columbia University Irving Medical Center, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University Irving Medical Center, New York, NY, USA","institution_ids":["https://openalex.org/I2799503643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086321664","display_name":"Damiano Zanotto","orcid":"https://orcid.org/0000-0003-3514-6889"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Damiano Zanotto","raw_affiliation_strings":["Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7606,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.96226415,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9548","last_page":"9553"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9972000122070312,"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":0.9889000058174133,"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/kriging","display_name":"Kriging","score":0.7317240834236145},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6616268157958984},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6603370904922485},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5470602512359619},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.5447027683258057},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4882991313934326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4867546558380127},{"id":"https://openalex.org/keywords/regression-analysis","display_name":"Regression analysis","score":0.4653888940811157},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4625503420829773},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4546227753162384},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3697601556777954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23545879125595093},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.22351738810539246},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.20576885342597961},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20322084426879883},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1833629012107849}],"concepts":[{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.7317240834236145},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6616268157958984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6603370904922485},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5470602512359619},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.5447027683258057},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4882991313934326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4867546558380127},{"id":"https://openalex.org/C152877465","wikidata":"https://www.wikidata.org/wiki/Q208042","display_name":"Regression analysis","level":2,"score":0.4653888940811157},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4625503420829773},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4546227753162384},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3697601556777954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23545879125595093},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.22351738810539246},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20576885342597961},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20322084426879883},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1833629012107849},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636562","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308306","display_name":"Muscular Dystrophy Association","ror":"https://ror.org/01frxsf98"},{"id":"https://openalex.org/F4320310028","display_name":"Cure SMA","ror":"https://ror.org/04yh8wr33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1543001073","https://openalex.org/W1968897086","https://openalex.org/W1973691033","https://openalex.org/W1989048313","https://openalex.org/W1990996960","https://openalex.org/W2008817939","https://openalex.org/W2011246910","https://openalex.org/W2011702367","https://openalex.org/W2015924051","https://openalex.org/W2041266393","https://openalex.org/W2044951073","https://openalex.org/W2047724033","https://openalex.org/W2077746958","https://openalex.org/W2082523218","https://openalex.org/W2090771768","https://openalex.org/W2111136712","https://openalex.org/W2127763473","https://openalex.org/W2143229717","https://openalex.org/W2160111545","https://openalex.org/W2163971601","https://openalex.org/W2279330160","https://openalex.org/W2419903493","https://openalex.org/W2539926660","https://openalex.org/W2567537979","https://openalex.org/W2730953469","https://openalex.org/W2753616612","https://openalex.org/W2789361604","https://openalex.org/W2896639221","https://openalex.org/W2896885758","https://openalex.org/W2909459005","https://openalex.org/W2945509283","https://openalex.org/W2979698599","https://openalex.org/W2981582652","https://openalex.org/W2995509945","https://openalex.org/W3010392898","https://openalex.org/W3038201058","https://openalex.org/W3093660933","https://openalex.org/W3095967517","https://openalex.org/W4300448178","https://openalex.org/W6629804754","https://openalex.org/W6677673038","https://openalex.org/W6755839761","https://openalex.org/W6757843418"],"related_works":["https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4293503520","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655","https://openalex.org/W2115519811"],"abstract_inverted_index":{"Research":[0],"in":[1,43,82,96,157,195],"powered":[2],"prostheses":[3],"and":[4,24,60,65,129,137,143,148,198],"orthoses":[5],"has":[6],"relied":[7],"on":[8],"COP":[9,41,80,160,190],"measurements":[10,42],"to":[11,25,78,106,187],"inform":[12],"a":[13,75,123],"device\u2019s":[14],"controller":[15],"about":[16],"the":[17,21,63,158,163,181,184],"body\u2019s":[18],"progression":[19],"through":[20],"gait":[22,201],"cycle,":[23],"provide":[26],"sensory":[27],"substitution":[28],"for":[29,145,162,192],"prosthesis":[30],"users,":[31],"thereby":[32],"helping":[33],"them":[34],"maintain":[35],"balance":[36],"during":[37],"locomotion.":[38],"Obtaining":[39],"accurate":[40],"out-of-the-lab":[44,199],"contexts":[45],"currently":[46],"requires":[47],"pressure":[48],"sensitive":[49],"insoles":[50],"with":[51,91,122,131,173],"dense":[52],"arrays":[53],"of":[54,67,126,169,183],"sensing":[55,93],"elements,":[56],"which":[57],"are":[58],"expensive":[59],"bulky,":[61],"limiting":[62],"accessibility":[64],"scalability":[66],"this":[68,71],"technology.":[69],"In":[70],"paper,":[72],"we":[73],"present":[74],"new":[76],"method":[77,100,186],"reconstruct":[79],"trajectories":[81,191],"over-ground":[83],"walking":[84],"tasks,":[85],"using":[86,113],"an":[87],"affordable":[88],"sensor":[89,111],"array":[90],"eight":[92],"elements":[94],"embedded":[95],"shoe":[97],"insoles.":[98],"The":[99,151],"leverages":[101],"Gaussian":[102],"Process":[103],"Regression":[104],"(GPR)":[105],"perform":[107],"predictions":[108],"from":[109],"raw":[110],"data":[112],"Bayesian":[114],"inference.":[115],"A":[116],"preliminary":[117],"validation":[118],"was":[119],"carried":[120],"out":[121],"convenience":[124],"sample":[125],"healthy":[127,146],"individuals":[128,147],"patients":[130],"neuromuscular":[132],"disorders.":[133],"Combined":[134],"mediolateral":[135],"(ML)":[136],"anteroposterior":[138],"(AP)":[139],"errors":[140],"where":[141],"2%":[142],"3%":[144],"patients,":[149],"respectively.":[150],"analysis":[152],"evidenced":[153],"larger":[154],"stride-to-stride":[155],"variability":[156],"ML":[159],"excursion":[161],"patient":[164],"group,":[165],"suggesting":[166],"higher":[167],"levels":[168],"motor":[170],"noise":[171],"associated":[172],"selective":[174],"muscle":[175],"weakness.":[176],"These":[177],"promising":[178],"results":[179],"indicate":[180],"potential":[182],"proposed":[185],"accurately":[188],"estimate":[189],"future":[193],"applications":[194],"wearable":[196],"robotics":[197],"clinical":[200],"assessments.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
