{"id":"https://openalex.org/W4379033996","doi":"https://doi.org/10.1109/lra.2023.3281884","title":"Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises","display_name":"Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises","publication_year":2023,"publication_date":"2023-06-01","ids":{"openalex":"https://openalex.org/W4379033996","doi":"https://doi.org/10.1109/lra.2023.3281884"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3281884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281884","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":true,"oa_status":"green","oa_url":"https://riunet.upv.es/bitstream/10251/201738/15/Escarabajal-SanchezPulloquinga-ZapataZamora-Ortiz%20-%20Imitation%20Learning-Based%20System%20for%20the%20Execu....pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068536996","display_name":"Rafael J. Escarabajal","orcid":"https://orcid.org/0000-0001-6535-9098"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafael J. Escarabajal","raw_affiliation_strings":["Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6535-9098","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043990193","display_name":"Jos\u00e9 L. Pulloquinga","orcid":"https://orcid.org/0000-0003-0403-4593"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jos\u00e9 L. Pulloquinga","raw_affiliation_strings":["Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0003-0403-4593","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043111009","display_name":"Pau Zamora-Ortiz","orcid":"https://orcid.org/0000-0002-7284-2181"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pau Zamora-Ortiz","raw_affiliation_strings":["Instituto Universitario de Ingenier&#x00ED;a Mec&#x00E1;nica y Biomec&#x00E1;nica, Universitat Polit&#x00E8;cnica de Val&#x00E8;ncia, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7284-2181","affiliations":[{"raw_affiliation_string":"Instituto Universitario de Ingenier&#x00ED;a Mec&#x00E1;nica y Biomec&#x00E1;nica, Universitat Polit&#x00E8;cnica de Val&#x00E8;ncia, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088121082","display_name":"A. Valera","orcid":"https://orcid.org/0000-0001-6843-6394"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"\u00c1ngel Valera","raw_affiliation_strings":["Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0001-6843-6394","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007224464","display_name":"Vicente Mata","orcid":"https://orcid.org/0000-0003-2255-0567"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vicente Mata","raw_affiliation_strings":["Departamento de Ingenier&#x00ED;a Mec&#x00E1;nica y de Materiales, Centro de Investigaci&#x00F3;n en Ingenier&#x00ED;a Mec&#x00E1;nica, Universitat Polit&#x00E8;cnica de Val&#x00E8;ncia, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2255-0567","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a Mec&#x00E1;nica y de Materiales, Centro de Investigaci&#x00F3;n en Ingenier&#x00ED;a Mec&#x00E1;nica, Universitat Polit&#x00E8;cnica de Val&#x00E8;ncia, Valencia, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053429079","display_name":"Marina Vall\u00e9s","orcid":"https://orcid.org/0000-0002-6396-0098"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marina Vall\u00e9s","raw_affiliation_strings":["Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0002-6396-0098","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Sistemas y Autom&#x00E1;tica, Instituto de Autom&#x00E1;tica e Inform&#x00E1;tica Industrial, Valencia, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5814,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.89444267,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"7","first_page":"4283","last_page":"4290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7444775104522705},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6423299312591553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6020140647888184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5837403535842896},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5535408854484558},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45526695251464844},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.44945329427719116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4288581609725952},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33613866567611694},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23681241273880005},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.18080690503120422},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1404496431350708}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7444775104522705},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6423299312591553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6020140647888184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5837403535842896},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5535408854484558},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45526695251464844},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.44945329427719116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4288581609725952},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33613866567611694},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23681241273880005},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.18080690503120422},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1404496431350708},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3281884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3281884","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":"pmh:oai:riunet.upv.es:10251/201738","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/201738","pdf_url":"https://riunet.upv.es/bitstream/10251/201738/15/Escarabajal-SanchezPulloquinga-ZapataZamora-Ortiz%20-%20Imitation%20Learning-Based%20System%20for%20the%20Execu....pdf","source":{"id":"https://openalex.org/S4306401500","display_name":"RiuNet (Politechnical University of Valencia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:riunet.upv.es:10251/201738","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/201738","pdf_url":"https://riunet.upv.es/bitstream/10251/201738/15/Escarabajal-SanchezPulloquinga-ZapataZamora-Ortiz%20-%20Imitation%20Learning-Based%20System%20for%20the%20Execu....pdf","source":{"id":"https://openalex.org/S4306401500","display_name":"RiuNet (Politechnical University of Valencia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.5}],"awards":[{"id":"https://openalex.org/G2964297834","display_name":null,"funder_award_id":"PAID-11-21","funder_id":"https://openalex.org/F4320334905","funder_display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia"},{"id":"https://openalex.org/G8965571110","display_name":null,"funder_award_id":"PID2021-125694OB-I00","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320334905","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4379033996.pdf","grobid_xml":"https://content.openalex.org/works/W4379033996.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1516801383","https://openalex.org/W1601795611","https://openalex.org/W1978023077","https://openalex.org/W2018865667","https://openalex.org/W2050835671","https://openalex.org/W2062852601","https://openalex.org/W2073380436","https://openalex.org/W2076049048","https://openalex.org/W2110304639","https://openalex.org/W2115817551","https://openalex.org/W2127245174","https://openalex.org/W2128677288","https://openalex.org/W2136719407","https://openalex.org/W2501397819","https://openalex.org/W2604382266","https://openalex.org/W2622126529","https://openalex.org/W2738631717","https://openalex.org/W2771354076","https://openalex.org/W2969076781","https://openalex.org/W2970489687","https://openalex.org/W2994746643","https://openalex.org/W3096933490","https://openalex.org/W3206193560","https://openalex.org/W4210969899","https://openalex.org/W4210975110","https://openalex.org/W6767735668","https://openalex.org/W7074243303"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2903025760"],"abstract_inverted_index":{"The":[0,168],"development":[1],"of":[2,82,94,130,143,163],"robotic-assisted":[3],"rehabilitation":[4,88,173],"exercises":[5,174],"involving":[6],"physical":[7,20],"human-robot":[8],"interaction":[9],"requires":[10],"extreme":[11],"care":[12],"since":[13],"an":[14],"injured":[15],"limb":[16,53,142],"may":[17,63],"be":[18,71],"in":[19],"contact":[21],"with":[22,73],"the":[23,47,51,66,95,100,104,123,128,139,144,151,179,183],"robot,":[24],"so":[25,102],"compliant":[26,84],"behavior":[27],"is":[28,58,106,112,132,159],"imperative":[29],"for":[30,86,99,171,197],"these":[31,74],"tasks.":[32],"Typical":[33],"approaches":[34],"involve":[35],"force":[36],"control":[37],"schemes":[38],"like":[39],"admittance":[40],"controllers":[41],"that":[42,69,91],"allow":[43],"humans":[44],"to":[45,116,122,182,192],"adapt":[46],"motion.":[48],"However,":[49],"when":[50],"patient's":[52,184],"has":[54,188],"limited":[55],"mobility":[56],"or":[57],"potentially":[59],"injured,":[60],"unintentional":[61],"forces":[62,152],"occur":[64],"during":[65],"robot's":[67],"trajectory":[68,96,105,180],"could":[70],"incompatible":[72],"controllers.":[75],"This":[76],"letter":[77],"addresses":[78],"a":[79,107,119,147,193],"new":[80],"way":[81,115],"generating":[83],"trajectories":[85],"passive":[87],"exercises,":[89],"considering":[90],"previous":[92],"positions":[93],"are":[97],"attainable":[98],"patient,":[101],"reversing":[103],"safe":[108],"operation.":[109],"Since":[110],"there":[111],"no":[113],"clear":[114],"optimize":[117],"such":[118],"goal":[120],"due":[121],"physiological":[124],"variability":[125],"among":[126],"patients,":[127],"condition":[129],"reversal":[131],"based":[133],"on":[134],"imitation":[135],"learning":[136],"by":[137,161,175],"taking":[138],"analogous":[140],"healthy":[141],"patient":[145],"as":[146],"reference":[148],"and":[149,157,186],"encoding":[150],"using":[153],"Gaussian":[154],"Mixture":[155],"Regression,":[156],"reversibility":[158],"accomplished":[160],"means":[162],"Reversible":[164],"Dynamic":[165],"Movement":[166],"Primitives.":[167],"system":[169],"allows":[170],"self-paced":[172],"back-and-forth":[176],"movements":[177],"along":[178],"according":[181],"reaction,":[185],"it":[187],"been":[189],"successfully":[190],"applied":[191],"4-DOF":[194],"parallel":[195],"robot":[196],"lower-limb":[198],"rehabilitation.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
