{"id":"https://openalex.org/W3135449185","doi":"https://doi.org/10.1109/lra.2021.3062562","title":"Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion","display_name":"Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion","publication_year":2021,"publication_date":"2021-02-26","ids":{"openalex":"https://openalex.org/W3135449185","doi":"https://doi.org/10.1109/lra.2021.3062562","mag":"3135449185","pmid":"https://pubmed.ncbi.nlm.nih.gov/34616899"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062562","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8488948","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Inseung Kang","raw_affiliation_strings":["School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5846-1550","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, 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":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","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"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043428991","display_name":"Srijan Duggal","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":"Srijan Duggal","raw_affiliation_strings":["School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101973216","display_name":"Yanrong Chen","orcid":"https://orcid.org/0000-0002-6441-3459"},"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":"Yanrong Chen","raw_affiliation_strings":["School of Computer Science, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Computer Science, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Computer Science, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055220072","display_name":"Pratik Kunapuli","orcid":"https://orcid.org/0000-0002-0601-9787"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratik Kunapuli","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, 19104 USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0601-9787","affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, 19104 USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"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":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5376-2258","affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","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":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.3221,"has_fulltext":false,"cited_by_count":154,"citation_normalized_percentile":{"value":0.986058,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"3491","last_page":"3497"},"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":0.9904999732971191,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9886000156402588,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8780277371406555},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.8091732263565063},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5700557827949524},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5405672192573547},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.4883558452129364},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.41898176074028015},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41203033924102783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3927270770072937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3481348752975464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26262423396110535},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.24679067730903625},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08939743041992188}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8780277371406555},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8091732263565063},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5700557827949524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5405672192573547},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.4883558452129364},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.41898176074028015},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41203033924102783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3927270770072937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3481348752975464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26262423396110535},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.24679067730903625},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08939743041992188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3062562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062562","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"},{"id":"pmid:34616899","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34616899","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8488948","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8488948","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8488948","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8488948","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2670974584","display_name":null,"funder_award_id":"R03 HD097740","funder_id":"https://openalex.org/F4320337611","funder_display_name":"Eunice Kennedy Shriver National Institute of Child Health and Human Development"},{"id":"https://openalex.org/G6342652670","display_name":null,"funder_award_id":"#DGE-1650044","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"}],"funders":[{"id":"https://openalex.org/F4320337611","display_name":"Eunice Kennedy Shriver National Institute of Child Health and Human Development","ror":"https://ror.org/04byxyr05"},{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1538131130","https://openalex.org/W1966260448","https://openalex.org/W1978332670","https://openalex.org/W1991235214","https://openalex.org/W2008854159","https://openalex.org/W2035615198","https://openalex.org/W2053082706","https://openalex.org/W2064675550","https://openalex.org/W2073801600","https://openalex.org/W2083113971","https://openalex.org/W2089826029","https://openalex.org/W2094532097","https://openalex.org/W2102159351","https://openalex.org/W2163605009","https://openalex.org/W2402144811","https://openalex.org/W2411309527","https://openalex.org/W2528868074","https://openalex.org/W2594043787","https://openalex.org/W2618530766","https://openalex.org/W2742250168","https://openalex.org/W2744637887","https://openalex.org/W2745042350","https://openalex.org/W2805768015","https://openalex.org/W2908002960","https://openalex.org/W2919115771","https://openalex.org/W2946765663","https://openalex.org/W2953384591","https://openalex.org/W2964253340","https://openalex.org/W2998400386","https://openalex.org/W3012841673","https://openalex.org/W3130807160","https://openalex.org/W6632100814","https://openalex.org/W6713134421"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2947640409","https://openalex.org/W4210601529","https://openalex.org/W3123089786"],"abstract_inverted_index":{"We":[0],"developed":[1],"and":[2,36,61,103,189],"validated":[3],"a":[4,12,38,53,58,113,154],"gait":[5,30,59,68,75,117,139,155],"phase":[6,20,118,140,156],"estimator":[7,119],"for":[8,41,83],"real-time":[9],"control":[10],"of":[11,24,159,176],"robotic":[13],"hip":[14],"exoskeleton":[15,44,131,178],"during":[16,46,141],"multimodal":[17,142],"locomotion.":[18],"Gait":[19],"describes":[21],"the":[22,28,63,66,73,97,130,138,149,165,174,185],"fraction":[23],"time":[25,64],"passed":[26],"since":[27,65],"previous":[29],"event,":[31],"such":[32],"as":[33],"heel":[34],"strike,":[35],"is":[37],"promising":[39],"framework":[40],"appropriately":[42],"applying":[43],"assistance":[45],"cyclic":[47],"tasks.":[48],"A":[49],"conventional":[50],"method":[51],"utilizes":[52],"mechanical":[54],"sensor":[55],"to":[56,70,93,123,128,180],"detect":[57],"event":[60,69],"uses":[62],"last":[67],"linearly":[71],"interpolate":[72],"current":[74],"phase.":[76],"While":[77],"this":[78],"approach":[79],"may":[80,99],"work":[81],"well":[82],"constant":[84],"treadmill":[85],"walking,":[86],"it":[87],"shows":[88],"poor":[89],"performance":[90],"when":[91],"translated":[92],"overground":[94],"situations":[95],"where":[96,184],"user":[98,186],"change":[100],"walking":[101],"speed":[102],"locomotion":[104,125,143,151],"modes":[105],"dynamically.":[106],"To":[107],"tackle":[108],"these":[109],"challenges,":[110],"we":[111],"utilized":[112],"convolutional":[114],"neural":[115],"network-based":[116],"that":[120],"can":[121,187],"adapt":[122],"different":[124,193],"mode":[126],"settings":[127,183],"modulate":[129],"assistance.":[132],"Our":[133,171],"resulting":[134],"model":[135],"accurately":[136],"predicted":[137],"without":[144],"any":[145],"additional":[146],"information":[147],"about":[148],"user's":[150],"mode,":[152],"with":[153],"estimation":[157],"RMSE":[158],"5.04":[160],"\u00b1":[161],"0.79%,":[162],"significantly":[163],"outperforming":[164],"literature":[166],"standard":[167],"(p":[168],"<;":[169],"0.05).":[170],"study":[172],"highlights":[173],"promise":[175],"translating":[177],"technology":[179],"more":[181],"realistic":[182],"naturally":[188],"seamlessly":[190],"navigate":[191],"through":[192],"terrain":[194],"settings.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
