{"id":"https://openalex.org/W2556072686","doi":"https://doi.org/10.1109/roman.2016.7745161","title":"Robotic repositioning of human limbs via model predictive control","display_name":"Robotic repositioning of human limbs via model predictive control","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2556072686","doi":"https://doi.org/10.1109/roman.2016.7745161","mag":"2556072686"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2016.7745161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2016.7745161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102458979","display_name":"Kevin Chow","orcid":null},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Kevin Chow","raw_affiliation_strings":["Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089014521","display_name":"Charles C. Kemp","orcid":"https://orcid.org/0000-0003-4720-1136"},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Charles C. Kemp","raw_affiliation_strings":["Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170013655"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"473","last_page":"480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9977999925613403,"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":0.9955999851226807,"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/robot","display_name":"Robot","score":0.7431623935699463},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.6552304625511169},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5680012106895447},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5661070942878723},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5561919808387756},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5543622970581055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5390092730522156},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48495104908943176},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45530030131340027},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.42383596301078796},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41216549277305603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3637528419494629},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3597445487976074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17751619219779968},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12723591923713684},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09308037161827087}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7431623935699463},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.6552304625511169},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5680012106895447},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5661070942878723},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5561919808387756},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5543622970581055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390092730522156},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48495104908943176},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45530030131340027},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42383596301078796},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41216549277305603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3637528419494629},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3597445487976074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17751619219779968},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12723591923713684},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09308037161827087},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/roman.2016.7745161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2016.7745161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1523815250","https://openalex.org/W1590311443","https://openalex.org/W1974305624","https://openalex.org/W1997861712","https://openalex.org/W2002534005","https://openalex.org/W2010072864","https://openalex.org/W2026400237","https://openalex.org/W2037881887","https://openalex.org/W2063932736","https://openalex.org/W2088019904","https://openalex.org/W2092646159","https://openalex.org/W2098377564","https://openalex.org/W2105236479","https://openalex.org/W2108965296","https://openalex.org/W2119703228","https://openalex.org/W2133322641","https://openalex.org/W2138103143","https://openalex.org/W2138257932","https://openalex.org/W2138300314","https://openalex.org/W2138740983","https://openalex.org/W2140036652","https://openalex.org/W2144781570","https://openalex.org/W2146698718","https://openalex.org/W2217949904","https://openalex.org/W2497095191","https://openalex.org/W2535935265","https://openalex.org/W4245991817","https://openalex.org/W6688893192","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W3176430321","https://openalex.org/W2394269979","https://openalex.org/W2054858771","https://openalex.org/W2526541772","https://openalex.org/W2611960376"],"abstract_inverted_index":{"Robots":[0],"that":[1],"effectively":[2],"manipulate":[3,36],"the":[4,50,52,56,64,69,86,106,114,128,134,156,161,179,183,186,189,195,199,202,206,210,217,230,232,236,240],"human":[5,37,57,70,87,129,165,184,207,212,237,241],"body":[6,58,88,166,208],"could":[7],"potentially":[8],"be":[9],"useful":[10],"in":[11,131,153,167,227],"a":[12,29,124,164,168],"wide":[13],"variety":[14],"of":[15,85,105,113,127,159,163,188,205,219,229],"applications,":[16],"including":[17,100],"assistive":[18],"applications":[19],"for":[20,182],"people":[21],"with":[22,133,143,155],"disabilities.":[23],"Toward":[24],"this":[25,75,119],"end,":[26],"we":[27,177],"present":[28],"method":[30],"to":[31,34,68,77,81,97,102,110,145,235],"enable":[32],"robots":[33],"compliantly":[35],"limbs.":[38],"Our":[39,214],"approach":[40,152],"uses":[41,74,123],"model":[42,53,76,126,196,204],"predictive":[43],"control":[44],"(MPC).":[45],"Given":[46],"an":[47],"action":[48],"by":[49],"robot,":[51],"predicts":[54],"how":[55],"will":[59,66],"move":[60],"and":[61,109,194,209,239],"what":[62],"forces":[63,231],"robot":[65,73,233],"apply":[67],"body.":[71],"The":[72],"optimize":[78],"its":[79],"actions":[80],"achieve":[82],"desired":[83],"motions":[84],"while":[89],"controlling":[90],"applied":[91,234],"forces.":[92],"This":[93],"optimization":[94],"is":[95],"subject":[96],"various":[98],"constraints,":[99],"constraints":[101],"avoid":[103,111],"hyperextension":[104],"human's":[107],"joints":[108],"slipping":[112],"robot's":[115,135,190],"end":[116,136,192],"effectors.":[117],"In":[118,174],"paper,":[120],"our":[121,151,175,220,223],"controller":[122,224],"quasistatic":[125],"limb":[130],"contact":[132],"effectors,":[137,193],"which":[138],"have":[139],"linear":[140],"Cartesian":[141,146],"stiffness":[142,187],"respect":[144],"equilibrium":[147],"positions.":[148],"We":[149],"evaluated":[150],"simulation":[154],"specific":[157],"task":[158],"lifting":[160],"leg":[162,238],"supine":[169],"position":[170],"(i.e.,":[171,198],"lying":[172],"down).":[173],"tests,":[176],"varied":[178],"goal":[180],"configuration":[181],"leg,":[185],"two":[191],"error":[197],"difference":[200],"between":[201],"controller's":[203],"actual":[211],"body).":[213],"evaluation":[215],"demonstrates":[216],"feasibility":[218],"approach,":[221],"since":[222],"performed":[225],"well":[226],"terms":[228],"leg's":[242],"motions.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}