{"id":"https://openalex.org/W4283697203","doi":"https://doi.org/10.1109/ismr48347.2022.9807510","title":"Real-Time Walk Detection for Robotic Hip Exoskeleton Applications","display_name":"Real-Time Walk Detection for Robotic Hip Exoskeleton Applications","publication_year":2022,"publication_date":"2022-04-13","ids":{"openalex":"https://openalex.org/W4283697203","doi":"https://doi.org/10.1109/ismr48347.2022.9807510"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48347.2022.9807510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","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/A5038701468","display_name":"Hang Man Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hang Man Cho","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030877663","display_name":"Inseung Kang","orcid":"https://orcid.org/0000-0002-5846-1550"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Inseung Kang","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101913279","display_name":"Dongho Park","orcid":"https://orcid.org/0000-0002-9308-2222"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dongho Park","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035906071","display_name":"Dean D. Molinaro","orcid":"https://orcid.org/0000-0001-9725-854X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dean D. Molinaro","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009266368","display_name":"Aaron J. Young","orcid":"https://orcid.org/0000-0002-5376-2258"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron J. Young","raw_affiliation_strings":["Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,School of Mechanical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0817,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.35218501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"50","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9947999715805054,"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":0.9887999892234802,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8710055351257324},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7351661920547485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6375025510787964},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5666771531105042},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5445811748504639},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4760565459728241},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44696494936943054},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42094895243644714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3820056915283203},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33006176352500916},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.16475781798362732},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08918532729148865}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8710055351257324},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7351661920547485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6375025510787964},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5666771531105042},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5445811748504639},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4760565459728241},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44696494936943054},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42094895243644714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3820056915283203},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33006176352500916},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.16475781798362732},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08918532729148865},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48347.2022.9807510","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1984002649","https://openalex.org/W2076829227","https://openalex.org/W2104536749","https://openalex.org/W2105566135","https://openalex.org/W2122334056","https://openalex.org/W2152074827","https://openalex.org/W2171213231","https://openalex.org/W2216246964","https://openalex.org/W2342546531","https://openalex.org/W2411309527","https://openalex.org/W2891735450","https://openalex.org/W2892742115","https://openalex.org/W2899272377","https://openalex.org/W2905625802","https://openalex.org/W2908002960","https://openalex.org/W2963375736","https://openalex.org/W2978677644","https://openalex.org/W3008073030","https://openalex.org/W3011435622","https://openalex.org/W3012841673","https://openalex.org/W3130807160","https://openalex.org/W3178159043","https://openalex.org/W3217275208","https://openalex.org/W6798222057"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W3082879976","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W4388283394","https://openalex.org/W2015794229","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Detection":[0],"of":[1,9,16,39,80,119,194,201],"the":[2,13,55,103,124,135,140,199,215,223,239],"user\u2019s":[3,125],"walking":[4,107],"is":[5,71],"a":[6,31,43,59,67,72,81,86,98,149,158,178,186],"critical":[7,73],"part":[8],"exoskeleton":[10,62,83],"technology":[11],"for":[12,75,188,241],"full":[14],"automation":[15],"smooth":[17],"and":[18,66,90,108,116,132,153,208,217],"seamless":[19],"assistance":[20],"during":[21],"movement":[22],"transitions.":[23],"Researchers":[24],"have":[25],"taken":[26],"several":[27],"approaches":[28],"in":[29,205,228],"developing":[30],"walk":[32,93,224],"detection":[33,94,225],"system":[34],"by":[35],"using":[36,53,111,128,148,157,214],"different":[37],"kinds":[38],"sensors;":[40],"however,":[41],"only":[42,54,138],"few":[44],"solutions":[45],"currently":[46],"exist":[47],"which":[48,70,183],"can":[49],"detect":[50],"these":[51,77],"transitions":[52],"sensors":[56,164,245],"embedded":[57,166],"on":[58,167,251],"robotic":[60,168,252],"hip":[61,64,82,130,142,169,253],"(i.e.,":[63],"encoders":[65,131],"trunk":[68],"IMU),":[69],"consideration":[74],"implementing":[76],"systems":[78],"in-the-loop":[79],"controller.":[84],"As":[85],"solution,":[87],"we":[88],"explored":[89],"developed":[91,147],"two":[92,112,129,141,172],"models":[95,104,121,145,173,226],"that":[96,162],"implemented":[97,250],"finite":[99],"state":[100],"machine":[101],"as":[102,185],"switched":[105],"between":[106],"standing":[109],"states":[110],"transition":[113],"conditions:":[114],"stand-to-walk":[115],"walk-to-stand.":[117],"One":[118],"our":[120,190,195,202,229],"dynamically":[122],"detected":[123],"gait":[126],"cycle":[127],"an":[133],"IMU;":[134],"other":[136],"model":[137],"used":[139],"encoders.":[143],"Our":[144],"were":[146,154,174],"publicly":[150],"available":[151],"dataset":[152],"validated":[155,198],"online":[156,196],"wearable":[159],"sensor":[160],"suite":[161],"contains":[163],"commonly":[165,249],"exoskeletons.":[170,254],"The":[171,192],"then":[175],"compared":[176],"with":[177],"foot":[179],"contact":[180],"estimation":[181],"method,":[182],"served":[184],"baseline":[187],"evaluating":[189],"models.":[191],"results":[193],"experiments":[197],"performance":[200,233],"models,":[203],"resulting":[204],"274":[206],"ms":[207,210],"507":[209],"delay":[211],"time":[212],"when":[213],"HIP+IMU":[216],"HIP":[218],"ONLY":[219],"model,":[220],"respectively.":[221],"Therefore,":[222],"established":[227],"study":[230],"achieve":[231],"reliable":[232],"under":[234],"multiple":[235],"locomotive":[236],"contexts":[237],"without":[238],"need":[240],"manual":[242],"tuning":[243],"or":[244],"additional":[246],"to":[247],"those":[248]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
