{"id":"https://openalex.org/W4385413626","doi":"https://doi.org/10.1109/lra.2023.3300280","title":"Towards Enhanced Stability of Human Stance With a Supernumerary Robotic Tail","display_name":"Towards Enhanced Stability of Human Stance With a Supernumerary Robotic Tail","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413626","doi":"https://doi.org/10.1109/lra.2023.3300280"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3300280","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3300280","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://hal.science/hal-04168796/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002996587","display_name":"Sajeeva Abeywardena","orcid":"https://orcid.org/0000-0001-6883-8297"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sajeeva Abeywardena","raw_affiliation_strings":["School of Electronic Engineering and Computer Science, Queen Mary University of London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6883-8297","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066756570","display_name":"Ildar Farkhatdinov","orcid":"https://orcid.org/0000-0002-1023-8050"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ildar Farkhatdinov","raw_affiliation_strings":["School of Engineering and Material Science, Queen Mary University of London, London, U.K","Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1023-8050","affiliations":[{"raw_affiliation_string":"School of Engineering and Material Science, Queen Mary University of London, London, U.K","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.585,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94420458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"8","issue":"9","first_page":"5743","last_page":"5750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9979000091552734,"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/robustness","display_name":"Robustness (evolution)","score":0.6313090920448303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6089779138565063},{"id":"https://openalex.org/keywords/supernumerary","display_name":"Supernumerary","score":0.579824686050415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5344414114952087},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.48104384541511536},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.47751182317733765},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44978368282318115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43415507674217224},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32526808977127075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2789715528488159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27053046226501465},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1957249641418457},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07882827520370483},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0624161958694458}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6313090920448303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6089779138565063},{"id":"https://openalex.org/C2780610479","wikidata":"https://www.wikidata.org/wiki/Q7644068","display_name":"Supernumerary","level":2,"score":0.579824686050415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5344414114952087},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.48104384541511536},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.47751182317733765},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44978368282318115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43415507674217224},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32526808977127075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2789715528488159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27053046226501465},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1957249641418457},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07882827520370483},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0624161958694458},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199343813","wikidata":"https://www.wikidata.org/wiki/Q12128","display_name":"Dentistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2023.3300280","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3300280","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:HAL:hal-04168796v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04168796","pdf_url":"https://hal.science/hal-04168796/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/90082","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/90082","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/90082/2/Farkhatdinov%20Towards%20enhanced%20stability%202023%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/f833ae47-1a0c-47cb-8409-ec945ffcd040","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/f833ae47-1a0c-47cb-8409-ec945ffcd040","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Abeywardena, S & Farkhatdinov, I 2023, 'Towards Enhanced Stability of Human Stance With a Supernumerary Robotic Tail', IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5743-5750. https://doi.org/10.1109/LRA.2023.3300280","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04168796v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04168796","pdf_url":"https://hal.science/hal-04168796/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, In press","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6195868734","display_name":null,"funder_award_id":"EP/T027746/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6644721704","display_name":"Automatic Posture and Balance Support for Supernumerary Robotic Limbs","funder_award_id":"EP/T027746/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385413626.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1968784303","https://openalex.org/W2057575883","https://openalex.org/W2121544865","https://openalex.org/W2144686723","https://openalex.org/W2152254020","https://openalex.org/W2313937152","https://openalex.org/W2613688818","https://openalex.org/W2737979333","https://openalex.org/W2907800485","https://openalex.org/W2911753901","https://openalex.org/W2923675576","https://openalex.org/W3038031504","https://openalex.org/W3038639781","https://openalex.org/W3039751018","https://openalex.org/W3098205130","https://openalex.org/W3130381353","https://openalex.org/W3143499818","https://openalex.org/W4239281292","https://openalex.org/W4280636286","https://openalex.org/W4320896013","https://openalex.org/W4385496273"],"related_works":["https://openalex.org/W2020610906","https://openalex.org/W3080605978","https://openalex.org/W2261076064","https://openalex.org/W2898228250","https://openalex.org/W4221085901","https://openalex.org/W2780131064","https://openalex.org/W2022519085","https://openalex.org/W2349565758","https://openalex.org/W2037061760","https://openalex.org/W2436913496"],"abstract_inverted_index":{"Neural":[0],"control":[1,22,61],"is":[2,102,108,118],"paramount":[3],"in":[4,59],"maintaining":[5],"upright":[6],"stance":[7,54,107],"of":[8,23,52,62,77,106],"a":[9,63,112],"human;":[10],"however,":[11],"the":[12,19,30,48,60,78,90,93],"associated":[13],"time":[14],"delay":[15,32,50,91],"affects":[16],"stability.":[17],"In":[18,45],"design":[20],"and":[21,57,74,115],"wearable":[24],"robots":[25],"to":[26,41,67],"augment":[27,68],"human":[28,53,69],"stance,":[29],"neural":[31,49],"dynamics":[33,51],"are":[34,55,80],"often":[35],"overly":[36],"simplified":[37],"or":[38],"ignored":[39],"leading":[40],"over":[42],"specified":[43],"systems.":[44],"this":[46],"letter,":[47],"modelled":[56],"embedded":[58],"supernumerary":[64,113],"robotic":[65],"tail":[66,79,94,114],"balance.":[70],"The":[71],"actuation,":[72],"geometric":[73],"inertial":[75],"parameters":[76],"examined.":[81],"Through":[82],"simulations":[83],"it":[84,101],"was":[85],"shown":[86,103],"that":[87,104,116],"by":[88],"incorporating":[89],"dynamics,":[92],"specification":[95],"can":[96],"be":[97],"greatly":[98],"reduced.":[99],"Further,":[100],"robustness":[105],"significantly":[109],"enhanced":[110],"with":[111],"there":[117],"positive":[119],"impact":[120],"on":[121],"muscle":[122],"fatigue.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}