{"id":"https://openalex.org/W2293270475","doi":"https://doi.org/10.1109/mra.2015.2510778","title":"Walking Assistance Using Artificial Primitives: A Novel Bioinspired Framework Using Motor Primitives for Locomotion Assistance Through a Wearable Cooperative Exoskeleton","display_name":"Walking Assistance Using Artificial Primitives: A Novel Bioinspired Framework Using Motor Primitives for Locomotion Assistance Through a Wearable Cooperative Exoskeleton","publication_year":2016,"publication_date":"2016-02-23","ids":{"openalex":"https://openalex.org/W2293270475","doi":"https://doi.org/10.1109/mra.2015.2510778","mag":"2293270475"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2015.2510778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2015.2510778","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2078.1/172536","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012034485","display_name":"Virginia Ruiz Garate","orcid":"https://orcid.org/0000-0003-4445-5253"},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Virginia Ruiz Garate","raw_affiliation_strings":["Louvain Bionics, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","Center for Research in Mechatronics, Universite catholique de Louvain, Louvainla-Neuve, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Louvain Bionics, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Center for Research in Mechatronics, Universite catholique de Louvain, Louvainla-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081048549","display_name":"Andrea Parri","orcid":"https://orcid.org/0000-0001-8121-7655"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Parri","raw_affiliation_strings":["Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101496907","display_name":"Tingfang Yan","orcid":"https://orcid.org/0000-0002-3263-4724"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tingfang Yan","raw_affiliation_strings":["Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020257077","display_name":"Marko Munih","orcid":"https://orcid.org/0000-0001-5289-4059"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Marko Munih","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Ljubljana, Slovenia","[Laboratory of Robotics, University of Ljubljana, Ljubljana, Slovenia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]},{"raw_affiliation_string":"[Laboratory of Robotics, University of Ljubljana, Ljubljana, Slovenia]","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108645317","display_name":"Raffaele Molino Lova","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Raffaele Molino Lova","raw_affiliation_strings":["Fondazione Don Carlo Gnocchi, Firenze, Italy","Don Gnocchi Foundation, Florence, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Don Carlo Gnocchi, Firenze, Italy","institution_ids":["https://openalex.org/I4210116940"]},{"raw_affiliation_string":"Don Gnocchi Foundation, Florence, Italy","institution_ids":["https://openalex.org/I4210116940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019123028","display_name":"Nicola Vitiello","orcid":"https://orcid.org/0000-0001-8636-7716"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Vitiello","raw_affiliation_strings":["Fondazione Don Carlo Gnocchi, Firenze, Italy","Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy","Fondazione Don Carlo Gnocchi, Firenze, Italy; Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Don Carlo Gnocchi, Firenze, Italy","institution_ids":["https://openalex.org/I4210116940"]},{"raw_affiliation_string":"Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Fondazione Don Carlo Gnocchi, Firenze, Italy; Scuola Superiore Sant'Anna, The BioRobotics Institute, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091658578","display_name":"Renaud Ronsse","orcid":"https://orcid.org/0000-0003-0823-9633"},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Renaud Ronsse","raw_affiliation_strings":["Louvain Bionics, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","Center for Research in Mechatronics, Universite catholique de Louvain, Louvainla-Neuve, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Louvain Bionics, Universit\u00e9 catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Center for Research in Mechatronics, Universite catholique de Louvain, Louvainla-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":3.3584,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.92086216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"83","last_page":"95"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9980000257492065,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/exoskeleton","display_name":"Exoskeleton","score":0.8890441060066223},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6984118223190308},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6273853182792664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5889263153076172},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5612136125564575},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.512418806552887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4771037697792053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46210891008377075},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4567166566848755},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35564422607421875},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.322072297334671},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2683528959751129},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23037061095237732},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.1291762888431549},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.10486975312232971}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8890441060066223},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6984118223190308},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6273853182792664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5889263153076172},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5612136125564575},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.512418806552887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4771037697792053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46210891008377075},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4567166566848755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35564422607421875},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.322072297334671},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2683528959751129},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23037061095237732},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1291762888431549},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.10486975312232971},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/mra.2015.2510778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2015.2510778","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:dial.uclouvain.be:boreal:172536","is_oa":true,"landing_page_url":"http://hdl.handle.net/2078.1/172536","pdf_url":null,"source":{"id":"https://openalex.org/S4306401974","display_name":"DIAL (Catholic University of Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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 Magazine, Vol. 23, no.1, p. 83-95 (2016)","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:uwe-repository.worktribe.com:7033295","is_oa":true,"landing_page_url":"https://uwe-repository.worktribe.com/output/7033295","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"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":null,"raw_type":"Journal Article"},{"id":"pmh:oai:www.iris.sssup.it:11382/510150","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/510150","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dial.uclouvain.be:boreal:172536","is_oa":true,"landing_page_url":"http://hdl.handle.net/2078.1/172536","pdf_url":null,"source":{"id":"https://openalex.org/S4306401974","display_name":"DIAL (Catholic University of Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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 Magazine, Vol. 23, no.1, p. 83-95 (2016)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309727","display_name":"Fondazione Pisa","ror":"https://ror.org/05jhnab13"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1826404855","https://openalex.org/W2008503048","https://openalex.org/W2009232656","https://openalex.org/W2009317155","https://openalex.org/W2035615198","https://openalex.org/W2047005188","https://openalex.org/W2056552265","https://openalex.org/W2064159853","https://openalex.org/W2073801600","https://openalex.org/W2075779309","https://openalex.org/W2077080603","https://openalex.org/W2081254081","https://openalex.org/W2089826029","https://openalex.org/W2094532097","https://openalex.org/W2094697451","https://openalex.org/W2095661097","https://openalex.org/W2101143083","https://openalex.org/W2108315391","https://openalex.org/W2112349308","https://openalex.org/W2118957880","https://openalex.org/W2126097529","https://openalex.org/W2128779738","https://openalex.org/W2132600856","https://openalex.org/W2138300314","https://openalex.org/W2142114107","https://openalex.org/W2156174987","https://openalex.org/W2257067624","https://openalex.org/W2293514180","https://openalex.org/W4256615025"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W1486724195","https://openalex.org/W2318265355","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W4200464353","https://openalex.org/W2387566434","https://openalex.org/W2592227335","https://openalex.org/W1515848118"],"abstract_inverted_index":{"Bioinspiration":[0],"in":[1,108],"robotics":[2],"deals":[3],"with":[4],"applying":[5],"biological":[6],"principles":[7],"to":[8,77,94,99],"the":[9,37,67,80,86,104,111],"design":[10],"of":[11,39,62,103],"better":[12],"performing":[13],"devices.":[14],"In":[15,35,66,85],"this":[16],"article,":[17],"we":[18],"propose":[19],"a":[20,31,100],"novel":[21],"bioinspired":[22],"framework":[23],"using":[24],"motor":[25,40,71,90],"primitives":[26,41,72,91],"for":[27,42],"locomotion":[28,45],"assistance":[29],"through":[30,75],"wearable":[32],"cooperative":[33],"exoskeleton.":[34],"particular,":[36],"use":[38],"assisting":[43],"different":[44,64],"modes":[46],"(i.e.,":[47],"ground-level":[48],"walking":[49],"at":[50],"several":[51],"cadences":[52],"and":[53,55],"ascending":[54],"descending":[56],"stairs)":[57],"is":[58],"explored":[59],"by":[60],"means":[61],"two":[63],"strategies.":[65],"first":[68],"strategy,":[69,88],"identified":[70,89],"are":[73,92],"combined":[74,93],"weights":[76],"directly":[78],"produce":[79],"desired":[81,112],"assistive":[82,113],"torque":[83,114],"profiles.":[84,115],"second":[87],"serve":[95],"as":[96],"neural":[97],"stimulations":[98],"virtual":[101],"model":[102],"musculoskeletal":[105],"system,":[106],"which,":[107],"turn,":[109],"produces":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2026-08-29T07:29:34.045763","created_date":"2025-10-10T00:00:00"}