{"id":"https://openalex.org/W2140427560","doi":"https://doi.org/10.1109/robio.2010.5723357","title":"Admittance control based walking support and power assistance of an omnidirectional wheelchair typed robot","display_name":"Admittance control based walking support and power assistance of an omnidirectional wheelchair typed robot","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2140427560","doi":"https://doi.org/10.1109/robio.2010.5723357","mag":"2140427560"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5112316964","display_name":"Chi Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Chi Zhu","raw_affiliation_strings":["Maebashi Koka Daigaku, Maebashi, Gunma, JP"],"affiliations":[{"raw_affiliation_string":"Maebashi Koka Daigaku, Maebashi, Gunma, JP","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109367458","display_name":"Masashi Oda","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Oda","raw_affiliation_strings":["Maebashi Koka Daigaku, Maebashi, Gunma, JP"],"affiliations":[{"raw_affiliation_string":"Maebashi Koka Daigaku, Maebashi, Gunma, JP","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049553539","display_name":"Masataka Yoshioka","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masataka Yoshioka","raw_affiliation_strings":["Maebashi Koka Daigaku, Maebashi, Gunma, JP"],"affiliations":[{"raw_affiliation_string":"Maebashi Koka Daigaku, Maebashi, Gunma, JP","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108254649","display_name":"Tomohiro Nishikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Nishikawa","raw_affiliation_strings":["Maebashi Koka Daigaku, Maebashi, Gunma, JP"],"affiliations":[{"raw_affiliation_string":"Maebashi Koka Daigaku, Maebashi, Gunma, JP","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058640581","display_name":"Shota Shimazu","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shota Shimazu","raw_affiliation_strings":["Maebashi Koka Daigaku, Maebashi, Gunma, JP"],"affiliations":[{"raw_affiliation_string":"Maebashi Koka Daigaku, Maebashi, Gunma, JP","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107051156","display_name":"Xiang Luo","orcid":"https://orcid.org/0000-0002-8969-2212"},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiang Luo","raw_affiliation_strings":["Department of Mechanical Engineering, South-East University, China","Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, South-East University, China","institution_ids":[]},{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Maebashi, Gunma, Japan","institution_ids":["https://openalex.org/I153470267"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5112316964"],"corresponding_institution_ids":["https://openalex.org/I153470267"],"apc_list":null,"apc_paid":null,"fwci":0.3201,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.62926354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"381","last_page":"386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9943000078201294,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.984499990940094,"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/wheelchair","display_name":"Wheelchair","score":0.8724225759506226},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7665355205535889},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6554527282714844},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5714454650878906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5250515937805176},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4748789668083191},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.47430041432380676},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44854962825775146},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4465996026992798},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42874160408973694},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4200182259082794},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41475510597229004},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3494837284088135},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3284369111061096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24458637833595276},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06278833746910095}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8724225759506226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7665355205535889},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6554527282714844},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5714454650878906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5250515937805176},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4748789668083191},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.47430041432380676},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44854962825775146},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4465996026992798},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42874160408973694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4200182259082794},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41475510597229004},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3494837284088135},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3284369111061096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24458637833595276},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06278833746910095},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W238042087","https://openalex.org/W1763775273","https://openalex.org/W1979174175","https://openalex.org/W1991722338","https://openalex.org/W1993925701","https://openalex.org/W2010561502","https://openalex.org/W2011177628","https://openalex.org/W2033720059","https://openalex.org/W2050754387","https://openalex.org/W2070109803","https://openalex.org/W2095936905","https://openalex.org/W2120123095","https://openalex.org/W2120436369","https://openalex.org/W2124425568","https://openalex.org/W2125507331","https://openalex.org/W2141984886","https://openalex.org/W2144863306","https://openalex.org/W2147451623","https://openalex.org/W2149012351","https://openalex.org/W2163904352","https://openalex.org/W2171274361","https://openalex.org/W2537619259","https://openalex.org/W4285719527","https://openalex.org/W6624657052","https://openalex.org/W6678611343"],"related_works":["https://openalex.org/W2564554735","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880"],"abstract_inverted_index":{"Up":[0],"to":[1,71],"now,":[2],"many":[3],"robotic":[4],"aids":[5],"for":[6,63,90,123],"the":[7,12,43,50,53,60,69,77,97,102,121],"elderly's":[8],"walking":[9,14,44,47,124],"support":[10,45,125],"or":[11,46,52],"disabled's":[13],"rehabilitation":[15,48],"are":[16,22,94,129],"reported,":[17],"and":[18,81,96,108,126],"numerous":[19],"electrical-powered":[20],"wheelchairs":[21],"developed.":[23,36],"In":[24],"this":[25],"paper,":[26],"a":[27,64],"new":[28],"kind":[29],"of":[30,76,120],"omnidirectional":[31],"wheelchair":[32],"typed":[33],"robot":[34,38,70,78,122],"is":[35,79,88],"The":[37,73,117],"not":[39],"only":[40],"can":[41,58,105],"accomplish":[42],"as":[49,115],"elderly":[51],"disabled":[54],"walking,":[55],"but":[56],"also":[57],"realize":[59],"power":[61,91,127],"assistance":[62,128],"caregiver":[65],"when":[66],"he/she":[67],"pushes":[68],"move.":[72],"basic":[74],"structure":[75],"described":[80],"an":[82],"admittance":[83],"based":[84],"human-machine":[85],"interaction":[86],"controller":[87],"introduced":[89],"assistance.":[92],"Experiments":[93],"implemented,":[95],"experimental":[98],"results":[99],"show":[100],"that":[101],"pushing":[103],"force":[104],"be":[106],"reduced":[107],"well":[109],"controlled":[110],"arbitrarily":[111],"in":[112],"all":[113],"directions":[114],"designed.":[116],"development":[118],"purposes":[119],"achieved.":[130]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}