{"id":"https://openalex.org/W2812436266","doi":"https://doi.org/10.1109/lra.2018.2852776","title":"Estimating Contact Forces and Moments for Walking Robots and Exoskeletons Using Complementary Energy Methods","display_name":"Estimating Contact Forces and Moments for Walking Robots and Exoskeletons Using Complementary Energy Methods","publication_year":2018,"publication_date":"2018-07-04","ids":{"openalex":"https://openalex.org/W2812436266","doi":"https://doi.org/10.1109/lra.2018.2852776","mag":"2812436266"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2852776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2852776","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/retrieve/3a9126e5-855d-4f41-bab4-3ea16632ff94","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014968798","display_name":"Jonas Vantilt","orcid":"https://orcid.org/0000-0001-9539-6236"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jonas Vantilt","raw_affiliation_strings":["Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-9539-6236","affiliations":[{"raw_affiliation_string":"Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085988309","display_name":"Chetan Giraddi","orcid":"https://orcid.org/0000-0002-6118-067X"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Chetan Giraddi","raw_affiliation_strings":["Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-6118-067X","affiliations":[{"raw_affiliation_string":"Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038134638","display_name":"Erwin Aertbeli\u00ebn","orcid":"https://orcid.org/0000-0002-4514-0934"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Erwin Aertbelien","raw_affiliation_strings":["Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-4514-0934","affiliations":[{"raw_affiliation_string":"Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044782627","display_name":"Friedl De Groote","orcid":"https://orcid.org/0000-0002-4255-8673"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Friedl De Groote","raw_affiliation_strings":["Department of Kinesiology, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-4255-8673","affiliations":[{"raw_affiliation_string":"Department of Kinesiology, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.2765,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.50679499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"3","issue":"4","first_page":"3410","last_page":"3417"},"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":0.9976999759674072,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.8466094732284546},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7856369018554688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7130221724510193},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6980921030044556},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6466589570045471},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.645292341709137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4920465648174286},{"id":"https://openalex.org/keywords/contact-mechanics","display_name":"Contact mechanics","score":0.4522720277309418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4021722078323364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3065992593765259},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2806699275970459},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17950960993766785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1753310263156891},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17378714680671692},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1604328155517578},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.13862314820289612},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11140069365501404},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.06637024879455566}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8466094732284546},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7856369018554688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7130221724510193},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6980921030044556},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6466589570045471},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.645292341709137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4920465648174286},{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.4522720277309418},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4021722078323364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3065992593765259},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2806699275970459},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17950960993766785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1753310263156891},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17378714680671692},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1604328155517578},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.13862314820289612},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11140069365501404},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.06637024879455566},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2852776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2852776","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/629948","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/629948","pdf_url":"https://lirias.kuleuven.be/retrieve/3a9126e5-855d-4f41-bab4-3ea16632ff94","source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol. 3 (4), (3410-3417)","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/629945","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/629945","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/629948","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/629948","pdf_url":"https://lirias.kuleuven.be/retrieve/3a9126e5-855d-4f41-bab4-3ea16632ff94","source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, vol. 3 (4), (3410-3417)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4599843588","display_name":null,"funder_award_id":"120057","funder_id":"https://openalex.org/F4320313460","funder_display_name":"Agentschap Innoveren en Ondernemen"}],"funders":[{"id":"https://openalex.org/F4320313460","display_name":"Agentschap Innoveren en Ondernemen","ror":"https://ror.org/032xdry56"},{"id":"https://openalex.org/F4320319799","display_name":"Flanders Make","ror":null},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2812436266.pdf","grobid_xml":"https://content.openalex.org/works/W2812436266.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W599916913","https://openalex.org/W1552812628","https://openalex.org/W1569339351","https://openalex.org/W1580573426","https://openalex.org/W1596992554","https://openalex.org/W1973195195","https://openalex.org/W1990007065","https://openalex.org/W1990851787","https://openalex.org/W1999338537","https://openalex.org/W2002401895","https://openalex.org/W2012801906","https://openalex.org/W2038054381","https://openalex.org/W2041886889","https://openalex.org/W2054577881","https://openalex.org/W2129227189","https://openalex.org/W2131232094","https://openalex.org/W2141042553","https://openalex.org/W2150317946","https://openalex.org/W2162495121","https://openalex.org/W2786610064","https://openalex.org/W4240801863"],"related_works":["https://openalex.org/W2475614059","https://openalex.org/W2777156298","https://openalex.org/W2783424583","https://openalex.org/W3095032356","https://openalex.org/W4206767447","https://openalex.org/W2249045997","https://openalex.org/W2798671389","https://openalex.org/W2809231538","https://openalex.org/W4205886612","https://openalex.org/W2812436266"],"abstract_inverted_index":{"When":[0],"walking":[1,35],"robots":[2,36],"and":[3,20,28,104,139],"exoskeletons":[4],"make":[5],"multiple":[6],"independent":[7],"contacts,":[8],"the":[9,17,25,55,58,72,96,101,110,114,118,129,136],"inverse":[10,31],"dynamics":[11,32],"problem":[12],"requires":[13],"additional":[14,97],"knowledge":[15,98],"about":[16],"contact":[18,26,45,102,137],"forces":[19,27,103,138],"moments.":[21,105],"To":[22],"avoid":[23],"measuring":[24],"moments,":[29],"many":[30],"controllers":[33],"for":[34,163],"optimize":[37],"an":[38],"objective":[39],"such":[40],"as":[41,113],"minimizing":[42],"torques":[43],"or":[44],"forces.":[46],"In":[47,106],"order":[48],"to":[49,54,63,94,99,134,154],"get":[50],"a":[51,79,123],"solution":[52],"closer":[53],"real":[56],"solution,":[57],"underlying":[59],"physical":[60,91],"principles":[61],"need":[62],"be":[64],"included.":[65],"This":[66],"is":[67,78,132],"achieved":[68],"by":[69],"relying":[70],"on":[71,90,122],"minimization":[73],"of":[74],"complementary":[75],"energy,":[76],"which":[77],"well":[80],"known":[81],"method":[82,88,131,160],"in":[83,117],"structural":[84],"engineering.":[85],"The":[86,120,149],"proposed":[87,130],"relies":[89],"properties":[92],"(stiffness)":[93],"obtain":[95],"solve":[100],"addition,":[107],"it":[108],"has":[109],"same":[111],"form":[112],"methods":[115],"used":[116],"literature.":[119],"validation":[121],"bilateral":[124],"lower-limb":[125],"exoskeleton":[126],"shows":[127],"that":[128],"able":[133],"predict":[135],"moments":[140],"sufficiently":[141],"well,":[142],"while":[143],"being":[144],"robust":[145],"against":[146],"modeling":[147,150],"errors.":[148],"dominating":[151],"flexibilities":[152],"suffices":[153],"achieve":[155],"adequate":[156],"results,":[157],"making":[158],"this":[159],"especially":[161],"interesting":[162],"series":[164],"elastic":[165],"actuated":[166],"robots.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}