{"id":"https://openalex.org/W4389666499","doi":"https://doi.org/10.1109/iros55552.2023.10341810","title":"Human-in-the-Loop Optimization of Active Back-Support Exoskeleton Assistance Via Lumbosacral Joint Torque Estimation","display_name":"Human-in-the-Loop Optimization of Active Back-Support Exoskeleton Assistance Via Lumbosacral Joint Torque Estimation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666499","doi":"https://doi.org/10.1109/iros55552.2023.10341810"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5045043372","display_name":"Andreas Sochopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andreas Sochopoulos","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035486605","display_name":"Tommaso Poliero","orcid":"https://orcid.org/0000-0002-3901-8983"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tommaso Poliero","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025925261","display_name":"Jes\u00fas Ortiz","orcid":"https://orcid.org/0000-0001-9475-1945"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jes\u00fas Ortiz","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021056928","display_name":"Christian Di Natali","orcid":"https://orcid.org/0000-0001-7399-7399"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Christian Di Natali","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045043372"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.5625,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62943571,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6090","last_page":"6096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9952999949455261,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9911999702453613,"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":0.9717012047767639},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.664182186126709},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6569613814353943},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.6057478189468384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.560425341129303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5218055248260498},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.41440141201019287},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.346062034368515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33096957206726074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2193789780139923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15906620025634766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12006255984306335}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9717012047767639},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.664182186126709},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6569613814353943},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.6057478189468384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.560425341129303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5218055248260498},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.41440141201019287},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.346062034368515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33096957206726074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2193789780139923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15906620025634766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12006255984306335},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/iros55552.2023.10341810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4366593718","display_name":null,"funder_award_id":"101015418,101058548","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2167808181","https://openalex.org/W2288913380","https://openalex.org/W2412679262","https://openalex.org/W2606248652","https://openalex.org/W2700163520","https://openalex.org/W2783804000","https://openalex.org/W2788331089","https://openalex.org/W2797947559","https://openalex.org/W2801932927","https://openalex.org/W2915838239","https://openalex.org/W3090298312","https://openalex.org/W3091627088","https://openalex.org/W3116409808","https://openalex.org/W3133952669","https://openalex.org/W3198963453","https://openalex.org/W3209992689","https://openalex.org/W4226377401","https://openalex.org/W4289792648","https://openalex.org/W4312960288","https://openalex.org/W4389661804"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2906683640","https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W2015794229","https://openalex.org/W4388283394"],"abstract_inverted_index":{"The":[0],"assistive":[1,33,57],"profile":[2],"of":[3,16,32,43,89,132,148,158],"an":[4,120],"active":[5],"back":[6],"support":[7],"exoskeleton":[8,50,72,161],"is":[9],"strongly":[10],"dependent":[11],"on":[12,20,100],"the":[13,96,110,115,123,133,149,152],"manual":[14],"tuning":[15,31],"controller":[17,58,125,141,154],"gains":[18],"based":[19],"previous":[21],"experience":[22],"and":[23,82,104],"trial-and-error.":[24],"Human-in-the-loop":[25],"(HIL)":[26],"optimization":[27],"allows":[28],"for":[29],"automatic":[30],"profiles":[34],"to":[35,85,119,129,138,145],"different":[36],"subjects.":[37],"Most":[38],"HIL":[39],"methods":[40],"make":[41],"use":[42],"intrusive":[44],"sensors":[45],"that":[46,65,142],"could":[47],"affect":[48],"out-of-the-lab":[49],"adoption.":[51],"Therefore,":[52],"we":[53,78,94],"propose":[54],"a":[55,87,139],"HIL-based":[56],"architecture":[59],"using":[60],"only":[61],"one":[62],"single":[63],"IMU":[64],"can":[66],"be":[67],"easily":[68],"embedded":[69],"in":[70,127],"any":[71],"system.":[73],"To":[74],"validate":[75],"our":[76],"algorithm":[77],"recruited":[79],"3":[80],"subjects":[81],"asked":[83],"them":[84],"perform":[86],"series":[88],"successive":[90],"load":[91],"liftings.":[92],"Meanwhile,":[93],"analysed":[95],"back-muscles":[97,134,150],"activations":[98],"focusing":[99],"cumulative":[101],"activation":[102],"(iEMG),":[103],"median":[105],"activation.":[106],"We":[107],"also":[108,155],"monitored":[109],"total":[111],"torque":[112],"generated":[113],"by":[114],"exoskeleton.":[116],"With":[117],"respect":[118],"assistance-less":[121],"condition,":[122],"proposed":[124],"resulted":[126],"up":[128,144],"19%":[130],"reduction":[131,147],"activity.":[135],"Moreover,":[136],"compared":[137],"state-of-the-art":[140],"produced":[143],"15%":[146],"activity,":[151],"new":[153],"required":[156],"generation":[157],"4%":[159],"less":[160],"torque.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}