{"id":"https://openalex.org/W3006028725","doi":"https://doi.org/10.1109/tase.2020.2964807","title":"Online Gait Planning of Lower-Limb Exoskeleton Robot for Paraplegic Rehabilitation Considering Weight Transfer Process","display_name":"Online Gait Planning of Lower-Limb Exoskeleton Robot for Paraplegic Rehabilitation Considering Weight Transfer Process","publication_year":2020,"publication_date":"2020-02-14","ids":{"openalex":"https://openalex.org/W3006028725","doi":"https://doi.org/10.1109/tase.2020.2964807","mag":"3006028725"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2964807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2964807","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-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/A5100725192","display_name":"Yue Ma","orcid":"https://orcid.org/0000-0003-0828-8371"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Ma","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100352764","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["CAS Key Laboratory of Human\u2013Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human\u2013Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]},{"raw_affiliation_string":"SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Simon X. Yang","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064825375","display_name":"Chen Dang","orcid":"https://orcid.org/0000-0001-6125-9778"},"institutions":[{"id":"https://openalex.org/I48430043","display_name":"Institut National des Sciences Appliqu\u00e9es de Lyon","ror":"https://ror.org/050jn9y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I203339264","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Chen Dang","raw_affiliation_strings":["Institut National des Sciences Appliqu\u00e9es de Lyon, Lyon, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut National des Sciences Appliqu\u00e9es de Lyon, Lyon, France","institution_ids":["https://openalex.org/I48430043"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088160027","display_name":"Du-Xin Liu","orcid":"https://orcid.org/0000-0003-3483-3820"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Du-Xin Liu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407017","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0002-6251-7908"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428564","display_name":"Can Wang","orcid":"https://orcid.org/0000-0002-0914-3994"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Can Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081803281","display_name":"Chunjie Chen","orcid":"https://orcid.org/0000-0003-4855-9914"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunjie Chen","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7923,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.83737123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"18","issue":"2","first_page":"414","last_page":"425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9941999912261963,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9884999990463257,"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/exoskeleton","display_name":"Exoskeleton","score":0.9117640256881714},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6420443654060364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677964091300964},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.496072381734848},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4757753908634186},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.46272507309913635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4575989842414856},{"id":"https://openalex.org/keywords/orthotics","display_name":"Orthotics","score":0.45252907276153564},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4319576323032379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37884142994880676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2386557161808014},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11412176489830017}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9117640256881714},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6420443654060364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677964091300964},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.496072381734848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4757753908634186},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.46272507309913635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4575989842414856},{"id":"https://openalex.org/C2776462017","wikidata":"https://www.wikidata.org/wiki/Q59744853","display_name":"Orthotics","level":2,"score":0.45252907276153564},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4319576323032379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37884142994880676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2386557161808014},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11412176489830017},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2020.2964807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2964807","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2205271193","display_name":null,"funder_award_id":"U1613219","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1580648284","https://openalex.org/W1654214161","https://openalex.org/W1976199972","https://openalex.org/W2005708952","https://openalex.org/W2014145468","https://openalex.org/W2044143754","https://openalex.org/W2052498786","https://openalex.org/W2062363643","https://openalex.org/W2112420596","https://openalex.org/W2122996500","https://openalex.org/W2133745078","https://openalex.org/W2142114107","https://openalex.org/W2144882068","https://openalex.org/W2150776941","https://openalex.org/W2171603028","https://openalex.org/W2203178826","https://openalex.org/W2212655638","https://openalex.org/W2295338225","https://openalex.org/W2303271325","https://openalex.org/W2304549287","https://openalex.org/W2441373952","https://openalex.org/W2468673050","https://openalex.org/W2488200743","https://openalex.org/W2525083240","https://openalex.org/W2564615886","https://openalex.org/W2604724024","https://openalex.org/W2609270279","https://openalex.org/W2622806574","https://openalex.org/W2738251403","https://openalex.org/W2741329278","https://openalex.org/W2743294705","https://openalex.org/W2743463877","https://openalex.org/W2756487600","https://openalex.org/W2787504052","https://openalex.org/W2884876207","https://openalex.org/W2891765131","https://openalex.org/W2908949019","https://openalex.org/W2940956030","https://openalex.org/W2946234510","https://openalex.org/W2969071609","https://openalex.org/W3017117590","https://openalex.org/W3147825138","https://openalex.org/W6661266258","https://openalex.org/W6767226753","https://openalex.org/W6776780908"],"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":{"People":[0],"who":[1],"suffer":[2],"from":[3],"paraplegia":[4,238],"completely":[5],"lose":[6],"sensory":[7],"and":[8,47,66,103,125,147,167,299,313,329,345,371],"locomotor":[9,32],"functions;":[10],"there":[11,141],"are":[12,48,142],"no":[13],"known":[14],"treatment":[15],"methods":[16],"for":[17,41,77,176,244,260,276,357],"their":[18,64,68],"recovery":[19],"at":[20,54],"this":[21,81,252,348,367],"time.":[22],"Exoskeleton":[23],"robots":[24,40],"have":[25,44],"the":[26,31,56,60,111,132,150,161,164,169,181,184,200,211,214,228,241,258,262,277,286,292,309,322,330,339,342,358,375,387,391,399,403],"potential":[27],"to":[28,50,62,110,159,191,205,249,256,290,315,338,401],"dramatically":[29],"improve":[30],"ability":[33,61,265],"of":[34,153,163,171,183,216,227,230,332,341,379,393,395,398],"these":[35,320],"individuals.":[36],"Although":[37],"some":[38],"exoskeleton":[39,112,157,224,283,293,343,359,404],"paraplegic":[42,220],"patients":[43,239],"been":[45],"commercialized":[46],"able":[49],"restore":[51],"walking":[52,139,196,327],"motion":[53],"present,":[55],"pilot":[57,259,298,400,408],"must":[58],"acquire":[59],"maintain":[63],"balance":[65],"shift":[67],"weight":[69],"using":[70,120,267],"forearm":[71],"crutches,":[72],"which":[73],"is":[74,118,189,255,306,369],"very":[75],"challenging":[76],"paraplegics.":[78],"To":[79,130],"make":[80,291,402],"easier,":[82],"we":[83,350,384],"propose":[84],"a":[85,94,104,126,179,272,297,353],"new":[86],"automated":[87],"intelligent":[88],"gait":[89,105,166,186,197,273,303,333,354,388],"planning":[90,133,187,274,304,355],"method":[91,188,275,305,356],"that":[92,213,366],"integrates":[93],"finite-state":[95],"machine":[96],"(FSM)":[97],"model":[98,107,117,124,312],"as":[99],"an":[100,121],"underlying":[101,115],"foundation":[102],"generation":[106],"in":[108],"addition":[109],"system.":[113],"The":[114,194,246,302],"FSM":[116],"defined":[119],"inverted":[122,310],"pendulum":[123,311],"minimum":[127],"jerk":[128],"algorithm.":[129],"compare":[131],"gait,":[134],"33":[135],"volunteers":[136,145],"provide":[137],"normal":[138],"gaits;":[140],"two":[143,192],"more":[144],"(paraplegic":[146],"nonparaplegic)":[148],"wearing":[149],"Shenzhen":[151],"Institute":[152],"Advanced":[154],"Technology":[155],"(SIAT)":[156],"robot":[158,225,284,294,344,405],"validate":[160],"effects":[162],"proposed":[165,185,195],"offer":[168],"groups":[170],"surface":[172],"electromyogram":[173],"(sEMG)":[174],"data":[175],"analysis.":[177],"As":[178],"result,":[180],"input":[182],"simplified":[190,314],"parameters.":[193,317],"significantly":[198,373],"reduces":[199],"arm":[201,376],"muscle":[202,377],"output.":[203],"Note":[204],"Practitioners-This":[206],"article":[207,270],"was":[208],"motivated":[209],"by":[210,266,389],"problem":[212,253],"four-degree":[215],"freedom":[217],"(DoF)":[218],"underactuated":[219,279],"rehabilitation":[221,280],"lower":[222,281],"limb":[223,282],"lacks":[226],"center":[229,394],"gravity":[231],"(COG)":[232],"transfer":[233,264,288],"process":[234,243,289],"when":[235],"coordinating":[236],"with":[237,251,296,407],"during":[240],"training":[242],"beginner.":[245],"existing":[247],"approach":[248,368],"deal":[250],"generally":[254],"train":[257],"obtaining":[261],"COG":[263,287],"crutches.":[268],"This":[269],"suggests":[271],"four-DOF":[278],"considering":[285],"coordinate":[295,406],"ensure":[300],"safety.":[301],"based":[307],"on":[308],"several":[316],"By":[318],"adjusting":[319],"parameters,":[321],"step":[323,325],"length,":[324],"height,":[326],"speed,":[328],"shape":[331],"can":[334,372],"be":[335],"adjusted":[336],"according":[337],"requirements":[340],"pilot.":[346,380],"In":[347,381],"article,":[349],"mathematically":[351],"characterize":[352],"control":[360],"strategy.":[361],"Preliminary":[362],"online":[363],"experiments":[364],"suggest":[365],"feasible":[370],"reduce":[374],"output":[378],"future":[382],"research,":[383],"will":[385],"adjust":[386],"estimating":[390],"velocity":[392],"mass":[396],"(COM)":[397],"actively.":[409]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
