{"id":"https://openalex.org/W2171839968","doi":"https://doi.org/10.1109/robot.2008.4543387","title":"An explicit model to predict and interpret constraint force creation in pHRI with exoskeletons","display_name":"An explicit model to predict and interpret constraint force creation in pHRI with exoskeletons","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2171839968","doi":"https://doi.org/10.1109/robot.2008.4543387","mag":"2171839968"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics 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/A5049835468","display_name":"Andr\u00e9 Schiele","orcid":"https://orcid.org/0000-0002-5598-7637"},"institutions":[{"id":"https://openalex.org/I44377176","display_name":"European Space Research and Technology Centre","ror":"https://ror.org/03h3jqn23","country_code":"NL","type":"government","lineage":["https://openalex.org/I2801994115","https://openalex.org/I44377176"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Andre Schiele","raw_affiliation_strings":["Mechanical Engineering Department, Automation & Robotics Section, European Space Agency, Noordwijk, AZ, Netherlands"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Automation & Robotics Section, European Space Agency, Noordwijk, AZ, Netherlands","institution_ids":["https://openalex.org/I44377176"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5049835468"],"corresponding_institution_ids":["https://openalex.org/I44377176"],"apc_list":null,"apc_paid":null,"fwci":2.9829,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.90872356,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1324","last_page":"1330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9925000071525574,"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":0.9925000071525574,"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":0.9905999898910522,"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"}},{"id":"https://openalex.org/T10084","display_name":"Musculoskeletal pain and rehabilitation","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2736","display_name":"Pharmacology"},"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":0.7813734412193298},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7628413438796997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.722029447555542},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7120876908302307},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.666549801826477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6031675934791565},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5780565142631531},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5667223334312439},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.496704638004303},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4705128073692322},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47048214077949524},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4494216740131378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38227319717407227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36576393246650696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2782767415046692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16447386145591736},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16188877820968628},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13800442218780518}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7813734412193298},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7628413438796997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.722029447555542},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7120876908302307},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.666549801826477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6031675934791565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5780565142631531},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5667223334312439},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.496704638004303},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4705128073692322},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47048214077949524},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4494216740131378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38227319717407227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36576393246650696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2782767415046692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16447386145591736},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16188877820968628},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13800442218780518},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics 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":11,"referenced_works":["https://openalex.org/W1555444101","https://openalex.org/W1967377907","https://openalex.org/W2053307760","https://openalex.org/W2073407198","https://openalex.org/W2107500431","https://openalex.org/W2134525555","https://openalex.org/W2137952706","https://openalex.org/W2145965127","https://openalex.org/W2224859784","https://openalex.org/W6633152776","https://openalex.org/W6676045872"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"It":[0,52,128],"is":[1,41,53,68,129],"the":[2,17,48,71,93,97,100,106,109,122],"goal":[3],"of":[4,19,124],"this":[5,56,132],"paper":[6,57,133],"to":[7,58,119],"introduce":[8],"an":[9,135],"analytical":[10],"model":[11,40,67,76],"that":[12,46],"allows":[13],"predicting":[14],"and":[15,30,82,92,99,114],"interpreting":[16],"characteristics":[18],"constraint":[20,60,115],"forces":[21,61,116],"generated":[22],"by":[23,85],"misaligned":[24],"joint":[25],"axes":[26],"between":[27,96],"human":[28,101],"operators":[29],"wearable":[31,138],"robots":[32],"during":[33],"physical":[34],"human-robot":[35,50],"interaction":[36,147],"(pHRI).":[37],"The":[38,66,74,89],"pHRI":[39,64],"based":[42],"on":[43],"geometric":[44],"parameters":[45,77],"describe":[47],"combined":[49],"system.":[51],"applied":[54],"in":[55,121,131],"measured":[59],"from":[62,80],"a":[63],"experiment.":[65],"validated":[69],"with":[70,140],"experimental":[72],"data.":[73],"geometrical":[75],"are":[78,103,117],"identified":[79],"force":[81],"position":[83],"measurements":[84],"non-linear":[86],"parameter":[87],"optimization.":[88],"attachment":[90],"stiffness":[91,110],"actual":[94],"offsets":[95],"exoskeleton":[98],"joints":[102,143],"estimated.":[104],"For":[105],"tested":[107],"subject,":[108],"reaches":[111],"222":[112],"N/m":[113],"shown":[118,130],"be":[120],"order":[123],"plusmn":[125],"10":[126],"N.":[127],"how":[134],"ergonomically":[136],"designed":[137],"robot":[139],"passive":[141],"compensation":[142],"can":[144],"reduce":[145],"such":[146],"forces.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
