{"id":"https://openalex.org/W2904970546","doi":"https://doi.org/10.1109/lra.2018.2886400","title":"Oscillator-Based Transparent Control of an Active/Semiactive Ankle-Foot Orthosis","display_name":"Oscillator-Based Transparent Control of an Active/Semiactive Ankle-Foot Orthosis","publication_year":2018,"publication_date":"2018-12-12","ids":{"openalex":"https://openalex.org/W2904970546","doi":"https://doi.org/10.1109/lra.2018.2886400","mag":"2904970546"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2886400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2886400","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100459678","display_name":"Yufeng Zhang","orcid":"https://orcid.org/0000-0002-0003-5196"},"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":true,"raw_author_name":"Yufeng Zhang","raw_affiliation_strings":["Wearable Robotic Systems Laboratory, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-0003-5196","affiliations":[{"raw_affiliation_string":"Wearable Robotic Systems Laboratory, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037656519","display_name":"Karen J. Nolan","orcid":"https://orcid.org/0000-0002-4667-0873"},"institutions":[{"id":"https://openalex.org/I250153783","display_name":"Kessler Foundation","ror":"https://ror.org/05hacyq28","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I250153783"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karen J. Nolan","raw_affiliation_strings":["Human Performance and Engineering Research, Kessler Foundation, West Orange, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Human Performance and Engineering Research, Kessler Foundation, West Orange, NJ, USA","institution_ids":["https://openalex.org/I250153783"]}]},{"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":["Wearable Robotic Systems Laboratory, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0003-3514-6889","affiliations":[{"raw_affiliation_string":"Wearable Robotic Systems Laboratory, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100459678"],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":null,"apc_paid":null,"fwci":1.2258,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.78522226,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"4","issue":"2","first_page":"247","last_page":"253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9990000128746033,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/transparency","display_name":"Transparency (behavior)","score":0.6871094107627869},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6665784120559692},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6615210771560669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5998328924179077},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5783563256263733},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5343438982963562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.460276335477829},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4544827938079834},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.41510099172592163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3470228314399719},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3397078514099121},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3299763798713684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2964209318161011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11456191539764404},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09293493628501892},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0661921501159668}],"concepts":[{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.6871094107627869},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6665784120559692},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6615210771560669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5998328924179077},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5783563256263733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5343438982963562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.460276335477829},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4544827938079834},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.41510099172592163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3470228314399719},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3397078514099121},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3299763798713684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2964209318161011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11456191539764404},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09293493628501892},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0661921501159668},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/lra.2018.2886400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2886400","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1480865411","https://openalex.org/W1559393815","https://openalex.org/W1995086487","https://openalex.org/W2003775018","https://openalex.org/W2008414438","https://openalex.org/W2034441309","https://openalex.org/W2038630298","https://openalex.org/W2054793620","https://openalex.org/W2059368191","https://openalex.org/W2072395926","https://openalex.org/W2073801600","https://openalex.org/W2084524231","https://openalex.org/W2099297971","https://openalex.org/W2099946053","https://openalex.org/W2102000567","https://openalex.org/W2112570665","https://openalex.org/W2115482830","https://openalex.org/W2117974171","https://openalex.org/W2121658418","https://openalex.org/W2126097529","https://openalex.org/W2133322641","https://openalex.org/W2134525555","https://openalex.org/W2135588494","https://openalex.org/W2139674081","https://openalex.org/W2140036652","https://openalex.org/W2163208146","https://openalex.org/W2165506721","https://openalex.org/W2169161640","https://openalex.org/W2346991801","https://openalex.org/W2469569777","https://openalex.org/W2897852684","https://openalex.org/W4211003818","https://openalex.org/W4240831985","https://openalex.org/W4253302762","https://openalex.org/W6755339777","https://openalex.org/W7065399140"],"related_works":["https://openalex.org/W4382930947","https://openalex.org/W3081288631","https://openalex.org/W3152382318","https://openalex.org/W3004686567","https://openalex.org/W2738656338","https://openalex.org/W2603787370","https://openalex.org/W2555400967","https://openalex.org/W3214759741","https://openalex.org/W3174876210","https://openalex.org/W4388482955"],"abstract_inverted_index":{"Transparency,":[0],"defined":[1],"as":[2],"the":[3,14,40,52,60,91,116,135,138],"ability":[4],"of":[5,42,51,55,78,137],"a":[6,17,35,43,76,85,111,122],"robot":[7,23],"to":[8,38,58,110,129],"exert":[9],"nil":[10],"interaction":[11,63,97],"force":[12],"on":[13],"user,":[15],"is":[16],"key":[18],"requirement":[19],"for":[20,24],"any":[21],"wearable":[22],"assistance,":[25],"rehabilitation,":[26],"or":[27],"functional":[28],"augmentation.":[29],"In":[30],"this":[31],"study,":[32],"we":[33],"propose":[34],"new":[36],"controller":[37,48,93,118],"improve":[39],"transparency":[41],"powered":[44,86],"orthosis.":[45],"The":[46],"proposed":[47,92,139],"takes":[49],"advantage":[50],"cyclic":[53],"nature":[54],"human":[56],"walking":[57],"predict":[59],"upcoming":[61],"undesired":[62,96],"forces":[64],"and":[65,104,131],"compensate":[66],"them":[67],"in":[68,121],"real":[69],"time.":[70],"Results":[71],"from":[72],"validation":[73],"tests":[74],"with":[75,84],"group":[77],"$N=12$":[79],"healthy":[80],"subjects":[81],"who":[82],"walked":[83],"ankle-foot":[87],"orthosis":[88],"indicate":[89],"that":[90],"can":[94],"reduce":[95],"torques":[98],"by":[99],"19.1%":[100],"at":[101,106],"slow":[102],"speed":[103],"17.43%":[105],"fast":[107],"speed,":[108],"compared":[109],"conventional":[112],"zero-torque":[113],"controller.":[114],"When":[115],"same":[117],"was":[119],"implemented":[120],"semiactive":[123],"actuation":[124],"mode,":[125],"these":[126],"figures":[127],"increased":[128],"20.06%":[130],"19.59%,":[132],"respectively,":[133],"proving":[134],"versatility":[136],"approach.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
