{"id":"https://openalex.org/W1965772020","doi":"https://doi.org/10.1109/tcst.2010.2084577","title":"An Orientation Estimator for the Wheelchair's Caster Wheels","display_name":"An Orientation Estimator for the Wheelchair's Caster Wheels","publication_year":2010,"publication_date":"2010-11-10","ids":{"openalex":"https://openalex.org/W1965772020","doi":"https://doi.org/10.1109/tcst.2010.2084577","mag":"1965772020"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2010.2084577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2084577","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5021224468","display_name":"F\u00e9lix Ch\u00e9nier","orcid":"https://orcid.org/0000-0002-2085-6629"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"F\u00e9lix Chenier","raw_affiliation_strings":["Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada","institution_ids":["https://openalex.org/I29607241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072781167","display_name":"Pascal Bigras","orcid":null},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Pascal Bigras","raw_affiliation_strings":["Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada","institution_ids":["https://openalex.org/I29607241"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038850789","display_name":"Rachid A\u00efssaoui","orcid":"https://orcid.org/0000-0001-7843-1386"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Rachid Aissaoui","raw_affiliation_strings":["Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imaging and Orthopedics Research Laboratory, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Imaging & Orthopedics Res. Lab., Ecole de Technol. Super. de Montreal, Montre\u0301al, QC, Canada","institution_ids":["https://openalex.org/I29607241"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2771,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87001093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"6","first_page":"1317","last_page":"1326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9994999766349792,"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":0.9994999766349792,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T12207","display_name":"Assistive Technology in Communication and Mobility","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/3609","display_name":"Occupational Therapy"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.8944970369338989},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.8832226991653442},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5790401101112366},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.516470193862915},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4797731339931488},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4396919012069702},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43314769864082336},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.42706626653671265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3865807056427002},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32546383142471313},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2770605683326721},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1667804718017578},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12364247441291809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10584235191345215},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10070687532424927}],"concepts":[{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.8944970369338989},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8832226991653442},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5790401101112366},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.516470193862915},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4797731339931488},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4396919012069702},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43314769864082336},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.42706626653671265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3865807056427002},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32546383142471313},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2770605683326721},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1667804718017578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12364247441291809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10584235191345215},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10070687532424927},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2010.2084577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2084577","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:espace2.etsmtl.ca:3291","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/3291/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article publi\u00e9 dans une revue, r\u00e9vis\u00e9 par les pairs"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.75,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W45736489","https://openalex.org/W82266858","https://openalex.org/W613155140","https://openalex.org/W974986501","https://openalex.org/W1965134618","https://openalex.org/W1969213773","https://openalex.org/W1970494767","https://openalex.org/W1972674217","https://openalex.org/W1990777642","https://openalex.org/W1992773019","https://openalex.org/W2005684852","https://openalex.org/W2016529325","https://openalex.org/W2023093360","https://openalex.org/W2027078114","https://openalex.org/W2041245541","https://openalex.org/W2043496250","https://openalex.org/W2044054821","https://openalex.org/W2044449630","https://openalex.org/W2056663488","https://openalex.org/W2062691475","https://openalex.org/W2066565755","https://openalex.org/W2073274101","https://openalex.org/W2076420009","https://openalex.org/W2078804873","https://openalex.org/W2093602348","https://openalex.org/W2106703268","https://openalex.org/W2134091744","https://openalex.org/W2135860716","https://openalex.org/W2148167807","https://openalex.org/W2150591277","https://openalex.org/W2266380092","https://openalex.org/W2313564472","https://openalex.org/W2407003528","https://openalex.org/W6601881264","https://openalex.org/W6714391249"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2724219770","https://openalex.org/W2742303892","https://openalex.org/W2076341217","https://openalex.org/W2065035327","https://openalex.org/W4327773816","https://openalex.org/W2329824183","https://openalex.org/W4251482551"],"abstract_inverted_index":{"Wheelchair":[0],"ergometers":[1,19,185],"are":[2,44,81],"a":[3,61,70,143],"highly":[4],"valuable":[5],"tool":[6],"in":[7,179,191],"the":[8,11,31,36,40,52,66,76,105,115,131,135,139,165,180,192],"study":[9],"of":[10,13,27,33,35,68,75,155,182,194],"biomechanics":[12],"manual":[14],"wheelchair":[15,116,166,184],"propulsion.":[16],"However,":[17],"current":[18],"have":[20,90],"some":[21],"drawbacks":[22],"that":[23,95],"affect":[24],"their":[25,48],"level":[26],"realism.":[28],"For":[29],"example,":[30],"moment":[32],"inertia":[34],"wheelchair-user":[37],"system":[38],"and":[39,65,123,134,142,186],"caster":[41,77,98,132],"wheels'":[42,78,107],"orientation":[43,100],"usually":[45],"neglected,":[46],"despite":[47],"high":[49],"influence":[50],"on":[51,104,117],"wheelchair's":[53],"behavior.":[54],"Taking":[55],"these":[56],"factors":[57],"into":[58],"account":[59],"requires":[60,72],"complex":[62],"dynamic":[63],"model,":[64],"calibration":[67],"such":[69],"model":[71,110],"on-the-field":[73],"recordings":[74],"orientation,":[79],"which":[80],"currently":[82],"difficult":[83],"to":[84,162],"obtain.":[85],"In":[86],"this":[87],"paper,":[88],"we":[89],"proposed":[91],"an":[92,148,152],"open-loop":[93],"observer":[94,176],"estimates":[96],"each":[97],"wheel's":[99],"(CWO)":[101],"based":[102],"only":[103],"rear":[106],"kinematics.":[108],"The":[109],"was":[111,167],"validated":[112],"by":[113,147],"propelling":[114],"three":[118],"different":[119,127],"floors":[120],"(vinyl,":[121],"carpet,":[122],"concrete)":[124],"with":[125],"five":[126],"normal":[128],"forces":[129],"between":[130,138],"wheels":[133],"ground.":[136],"Comparison":[137],"estimated":[140],"CWO":[141],"reference":[144],"one":[145],"recorded":[146],"optoelectronic":[149],"device":[150],"gave":[151],"accuracy":[153],"error":[154,160],"less":[156],"than":[157],"\u00b18\u00b0.":[158],"This":[159,175],"reduced":[161],"\u00b15\u00b0":[163],"when":[164],"propelled":[168],"following":[169],"straight":[170],"or":[171],"slightly":[172],"curved":[173],"patterns.":[174],"has":[177],"implications":[178],"design":[181],"better":[183],"simulators,":[187],"as":[188,190],"well":[189],"control":[193],"electric":[195],"wheelchairs.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}