{"id":"https://openalex.org/W4389880010","doi":"https://doi.org/10.1109/tim.2023.3343745","title":"A Human\u2013Machine\u2013Environment Interactive Measurement System for Nonanthropomorphic Exoskeletons","display_name":"A Human\u2013Machine\u2013Environment Interactive Measurement System for Nonanthropomorphic Exoskeletons","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4389880010","doi":"https://doi.org/10.1109/tim.2023.3343745"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3343745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3343745","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5091429063","display_name":"Long He","orcid":"https://orcid.org/0009-0009-6786-0666"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long He","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0009-6786-0666","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106723793","display_name":"Fan Wu","orcid":"https://orcid.org/0000-0001-8745-6112"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu Fan","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8745-6112","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102731516","display_name":"Zhe Dai","orcid":"https://orcid.org/0000-0001-5749-9007"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Dai","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5749-9007","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392877","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0002-8612-0745"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8612-0745","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428659","display_name":"Zhong Li","orcid":"https://orcid.org/0000-0003-1711-2992"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Li","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-1711-2992","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046289333","display_name":"Xiaorong Guan","orcid":"https://orcid.org/0000-0001-5493-3699"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaorong Guan","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5493-3699","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430968","display_name":"Cheng Xu","orcid":"https://orcid.org/0000-0001-8075-2867"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Xu","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8075-2867","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045324804","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0002-2797-0264"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2797-0264","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5832,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63050011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"11"},"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":0.9966999888420105,"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":0.9927999973297119,"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/exoskeleton","display_name":"Exoskeleton","score":0.8911541700363159},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.7660937309265137},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7216694355010986},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5977617502212524},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.5847399234771729},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5743581652641296},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5576171278953552},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5294168591499329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5160688757896423},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4957040548324585},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.49494045972824097},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4773319363594055},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4663965106010437},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4437628388404846},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35894864797592163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2740665078163147},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23601672053337097},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.2008264660835266},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18590259552001953},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16458961367607117},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12571683526039124},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0963214635848999},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09448519349098206},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08752623200416565}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8911541700363159},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.7660937309265137},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7216694355010986},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5977617502212524},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.5847399234771729},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5743581652641296},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5576171278953552},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5294168591499329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5160688757896423},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4957040548324585},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.49494045972824097},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4773319363594055},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4663965106010437},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4437628388404846},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35894864797592163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2740665078163147},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23601672053337097},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2008264660835266},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18590259552001953},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16458961367607117},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12571683526039124},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0963214635848999},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09448519349098206},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08752623200416565},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2023.3343745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2023.3343745","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3498462245","display_name":null,"funder_award_id":"LZ20E050002","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G5224994639","display_name":null,"funder_award_id":"52175033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6317206018","display_name":null,"funder_award_id":"U21A20120","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"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W343602272","https://openalex.org/W1914429872","https://openalex.org/W1924308435","https://openalex.org/W1967516228","https://openalex.org/W1980207846","https://openalex.org/W2017417990","https://openalex.org/W2049135373","https://openalex.org/W2085155716","https://openalex.org/W2099657214","https://openalex.org/W2105934661","https://openalex.org/W2154445870","https://openalex.org/W2166949261","https://openalex.org/W2344339070","https://openalex.org/W2562261801","https://openalex.org/W2785535646","https://openalex.org/W2791289603","https://openalex.org/W2861557280","https://openalex.org/W2886880902","https://openalex.org/W2889974070","https://openalex.org/W2896096631","https://openalex.org/W2896718541","https://openalex.org/W2935072129","https://openalex.org/W2942630852","https://openalex.org/W2965145538","https://openalex.org/W2965569660","https://openalex.org/W2969071609","https://openalex.org/W2969670218","https://openalex.org/W2982529867","https://openalex.org/W2991223339","https://openalex.org/W3024410087","https://openalex.org/W3038639781","https://openalex.org/W3039751018","https://openalex.org/W3087253146","https://openalex.org/W3087621521","https://openalex.org/W3094408078","https://openalex.org/W3112174128","https://openalex.org/W3114146228","https://openalex.org/W3120765499","https://openalex.org/W3149785716","https://openalex.org/W3155966312","https://openalex.org/W4200149821","https://openalex.org/W4205984557","https://openalex.org/W4225342162","https://openalex.org/W4312556469","https://openalex.org/W4317795008","https://openalex.org/W4318485287"],"related_works":["https://openalex.org/W2570308965","https://openalex.org/W2049247410","https://openalex.org/W2318265355","https://openalex.org/W1486724195","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W2611757813","https://openalex.org/W2040549058","https://openalex.org/W2526279871"],"abstract_inverted_index":{"Nonanthropomorphic":[0],"structures":[1],"have":[2],"been":[3],"increasingly":[4],"used":[5],"in":[6,107,222,231],"lower":[7,83,184,240],"limb":[8,241],"exoskeletons.":[9,21],"However,":[10],"little":[11],"research":[12],"focuses":[13],"on":[14,30,48,113,119,137,238],"the":[15,49,54,66,74,93,149,154,182,223,232,250],"human\u2013machine\u2013environment":[16],"interactive":[17,99],"measurement":[18,45,100],"for":[19,167,197,205,249],"nonanthropomorphic":[20,32,256],"This":[22],"article":[23],"presents":[24],"a":[25,31],"series":[26],"of":[27,76,81,158,192,215,252],"sensing":[28,60],"methods":[29],"exoskeleton,":[33],"which":[34],"only":[35],"uses":[36],"six":[37],"angular":[38],"encoders":[39],"at":[40],"joints":[41],"and":[42,105,126,130,142,162,170,200,226,243],"an":[43,187,212],"inertial":[44],"unit":[46],"(IMU)":[47],"back":[50],"plate":[51],"to":[52,64,79,91,181],"observe":[53],"entire":[55],"body":[56,219],"motion":[57],"state.":[58],"The":[59,98,133,144,174,208,236],"system":[61,101],"is":[62,89],"designed":[63],"identify":[65],"walking":[67,111],"terrain":[68,139,150],"through":[69],"kinematic":[70],"calculation":[71],"while":[72],"mapping":[73,177],"angle":[75,176,199],"exoskeleton":[77,179],"rods":[78,180],"that":[80,148],"human":[82],"limbs.":[84],"A":[85],"five-segment":[86],"dynamical":[87],"model":[88],"built":[90],"estimate":[92],"ground":[94],"reaction":[95],"force":[96],"(GRF).":[97],"was":[102],"designed,":[103],"validated,":[104],"tested":[106],"experiments.":[108],"We":[109],"conducted":[110],"experiments":[112],"different":[114,138],"terrains.":[115],"Gaits":[116],"were":[117],"collected":[118],"five":[120],"road":[121],"conditions:":[122],"level":[123],"ground,":[124],"uphill":[125],"downhill,":[127],"ascending":[128],"stairs,":[129],"descending":[131],"stairs.":[132],"differences":[134],"between":[135],"gaits":[136],"are":[140],"analyzed":[141],"compared.":[143],"experimental":[145],"results":[146],"show":[147],"recognition":[151],"method":[152],"achieves":[153,186,211],"mean":[155],"errors":[156],"(MEs)":[157],"0.003":[159],"\u00b1":[160,164,194,202,217,228],"0.021":[161],"0.0005":[163],"0.012":[165],"m":[166],"stride":[168,171],"length":[169],"height,":[172],"respectively.":[173],"gait":[175],"from":[178],"wears\u2019":[183],"limbs":[185],"overall":[188,213],"root-mean-square":[189],"error":[190],"(RMSE)":[191],"0.0236":[193],"0.0074":[195],"rad":[196,204],"thigh":[198],"0.0277":[201],"0.0061":[203],"shank":[206],"angle.":[207],"GRF":[209],"estimation":[210],"RMSE":[214],"0.1462":[216],"0.0255":[218],"weight":[220],"(BW)":[221],"vertical":[224],"direction":[225],"0.0715":[227],"0.0187":[229],"BW":[230],"anterior\u2013posterior":[233],"(AP)":[234],"direction.":[235],"information":[237],"terrain,":[239],"states,":[242],"GRFs":[244],"can":[245],"provide":[246],"real-time":[247],"feedback":[248],"control":[251],"exoskeletons":[253],"with":[254],"similar":[255],"structures.":[257]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
