{"id":"https://openalex.org/W2168581398","doi":"https://doi.org/10.1109/med.2014.6961398","title":"Dynamic modeling of a parallel manipulator-based mobility assistive device for elderly people","display_name":"Dynamic modeling of a parallel manipulator-based mobility assistive device for elderly people","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2168581398","doi":"https://doi.org/10.1109/med.2014.6961398","mag":"2168581398"},"language":"en","primary_location":{"id":"doi:10.1109/med.2014.6961398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2014.6961398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"22nd Mediterranean Conference on Control and Automation","raw_type":"proceedings-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/A5075086863","display_name":"Ahmed Asker","orcid":"https://orcid.org/0000-0002-0121-1227"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Asker","raw_affiliation_strings":["Egypt-Japan University of Science and Technology, New Borg-El-Arab, Alexandria, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Egypt-Japan University of Science and Technology, New Borg-El-Arab, Alexandria, Egypt","institution_ids":["https://openalex.org/I32619867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051725626","display_name":"Samy F. M. Assal","orcid":"https://orcid.org/0000-0002-7997-4363"},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Samy M. F. Assal","raw_affiliation_strings":["Department of production engineering and mechanical, Tanta University, New Borg-El-Arab, Alexandria, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of production engineering and mechanical, Tanta University, New Borg-El-Arab, Alexandria, Egypt","institution_ids":["https://openalex.org/I21376657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015329217","display_name":"Ahmed M. R. Fath El\u2010Bab","orcid":"https://orcid.org/0000-0001-6481-3615"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]},{"id":"https://openalex.org/I91041137","display_name":"Assiut University","ror":"https://ror.org/01jaj8n65","country_code":"EG","type":"education","lineage":["https://openalex.org/I91041137"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed M. R. Fath El-Bab","raw_affiliation_strings":["Egypt-Japan University of Science and Technology, New Borg-El-Arab city, Alexandria, Egypt (on leave from Mechanical Engineering Department, Faculty of Engineering, Assiut University)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Egypt-Japan University of Science and Technology, New Borg-El-Arab city, Alexandria, Egypt (on leave from Mechanical Engineering Department, Faculty of Engineering, Assiut University)","institution_ids":["https://openalex.org/I32619867","https://openalex.org/I91041137"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5771,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.70446854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"362","last_page":"367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9898999929428101,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9797999858856201,"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":0.8019553422927856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7149486541748047},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5814372301101685},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5799733996391296},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5583603978157043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.525464653968811},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4949769377708435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22491148114204407}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8019553422927856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7149486541748047},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5814372301101685},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5799733996391296},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5583603978157043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.525464653968811},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4949769377708435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22491148114204407},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":1,"locations":[{"id":"doi:10.1109/med.2014.6961398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2014.6961398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"22nd Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1408566941","https://openalex.org/W2013812445","https://openalex.org/W2040100527","https://openalex.org/W2076643259","https://openalex.org/W2088469064","https://openalex.org/W2112156377","https://openalex.org/W2117869083","https://openalex.org/W2125785969","https://openalex.org/W2150696331","https://openalex.org/W2150923362","https://openalex.org/W2155184920","https://openalex.org/W2505633767","https://openalex.org/W4285719527","https://openalex.org/W6682318038","https://openalex.org/W6682996451"],"related_works":["https://openalex.org/W4251298892","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2356013541","https://openalex.org/W3131574667","https://openalex.org/W2385444679","https://openalex.org/W3133868776","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Recently,":[0],"more":[1],"attention":[2],"has":[3],"been":[4],"paid":[5],"for":[6,37,45,81,150],"assisting":[7],"elderly":[8],"and":[9,62,92,134],"people":[10],"with":[11,29,141],"various":[12],"disabilities,":[13],"hence":[14],"assistive":[15,50],"robots":[16,22],"have":[17],"gained":[18],"much":[19],"popularity.":[20],"These":[21],"are":[23,85],"usually":[24],"in":[25],"a":[26,46,68,123,142],"direct":[27],"contact":[28],"the":[30,56,72,88,98,127,131,135],"user,":[31],"therefore":[32],"dynamic":[33,43,78,132],"modeling":[34],"is":[35,52,74,109,113],"important":[36],"precise":[38],"control.":[39],"In":[40,95],"this":[41],"paper,":[42],"model":[44,70,133],"parallel":[47],"manipulator-based":[48],"mobility":[49],"device":[51,73],"first":[53,57],"developed":[54],"using":[55,64,76,87,115,130,138],"type":[58],"of":[59,71,101],"Lagrange's":[60],"equations":[61],"simulated":[63,75],"MATLAB":[65],"software.":[66],"Also,":[67],"CAD":[69],"ADAMS":[77,139],"simulation":[79],"software":[80,140],"comparison.":[82],"Both":[83],"simulations":[84],"performed":[86],"same":[89],"system":[90],"parameters":[91],"end-effector":[93],"trajectory.":[94],"these":[96],"simulations,":[97],"natural":[99],"trajectory":[100,112],"human":[102,117],"motion":[103,118],"during":[104],"sit":[105],"to":[106],"stand":[107],"activity":[108],"used.":[110],"This":[111],"determined":[114],"VICON":[116],"capturing":[119],"system.":[120],"Simulations":[121],"show":[122],"good":[124],"agreement":[125],"between":[126],"results":[128],"obtained":[129,137],"ones":[136],"root":[143],"mean":[144],"square":[145],"error":[146],"less":[147],"than":[148],"0.2%":[149],"all":[151],"calculated":[152],"results.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}