{"id":"https://openalex.org/W2017432918","doi":"https://doi.org/10.1109/tro.2011.2164958","title":"A Robotic Cadaveric Gait Simulator With Fuzzy Logic Vertical Ground Reaction Force Control","display_name":"A Robotic Cadaveric Gait Simulator With Fuzzy Logic Vertical Ground Reaction Force Control","publication_year":2011,"publication_date":"2011-10-05","ids":{"openalex":"https://openalex.org/W2017432918","doi":"https://doi.org/10.1109/tro.2011.2164958","mag":"2017432918"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2164958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2164958","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5019907954","display_name":"Patrick M. Aubin","orcid":"https://orcid.org/0000-0003-3330-2016"},"institutions":[{"id":"https://openalex.org/I167420956","display_name":"Vilnius Gediminas Technical University","ror":"https://ror.org/02x3e4q36","country_code":"LT","type":"education","lineage":["https://openalex.org/I167420956"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210094549","display_name":"VA Puget Sound Health Care System","ror":"https://ror.org/00ky3az31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1322918889","https://openalex.org/I2799886695","https://openalex.org/I4210094549","https://openalex.org/I4210138024"]}],"countries":["LT","US"],"is_corresponding":true,"raw_author_name":"Patrick M. Aubin","raw_affiliation_strings":["Department of Biomechanics, Vilnius Gediminas Technical University, Vilnius, Lithuania","Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomechanics, Vilnius Gediminas Technical University, Vilnius, Lithuania","institution_ids":["https://openalex.org/I167420956"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210094549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085649593","display_name":"Eric C. Whittaker","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094549","display_name":"VA Puget Sound Health Care System","ror":"https://ror.org/00ky3az31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1322918889","https://openalex.org/I2799886695","https://openalex.org/I4210094549","https://openalex.org/I4210138024"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Whittaker","raw_affiliation_strings":["Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210094549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017942635","display_name":"William R. Ledoux","orcid":"https://orcid.org/0000-0003-4982-7714"},"institutions":[{"id":"https://openalex.org/I4210094549","display_name":"VA Puget Sound Health Care System","ror":"https://ror.org/00ky3az31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1322918889","https://openalex.org/I2799886695","https://openalex.org/I4210094549","https://openalex.org/I4210138024"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William R. Ledoux","raw_affiliation_strings":["Department of Mechanical Engineering and the Department of Orthopaedics and Sports Medicine, University of Washington, Seattle, WA, USA","Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Department of Orthopaedics and Sports Medicine, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Veterans Affairs, RResearch and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Health Care System, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210094549"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019907954"],"corresponding_institution_ids":["https://openalex.org/I167420956","https://openalex.org/I201448701","https://openalex.org/I4210094549"],"apc_list":null,"apc_paid":null,"fwci":2.1481,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.86731471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"28","issue":"1","first_page":"246","last_page":"255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11227","display_name":"Diabetic Foot Ulcer Assessment and Management","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11227","display_name":"Diabetic Foot Ulcer Assessment and Management","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2712","display_name":"Endocrinology, Diabetes and Metabolism"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7018771171569824},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.584193766117096},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5428798198699951},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5172527432441711},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.5065110921859741},{"id":"https://openalex.org/keywords/cadaveric-spasm","display_name":"Cadaveric spasm","score":0.49169498682022095},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4593205451965332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4446380138397217},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4136180281639099},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18112733960151672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16674932837486267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1620127558708191},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14817988872528076},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09985333681106567}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7018771171569824},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.584193766117096},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5428798198699951},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5172527432441711},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.5065110921859741},{"id":"https://openalex.org/C175696284","wikidata":"https://www.wikidata.org/wiki/Q986524","display_name":"Cadaveric spasm","level":2,"score":0.49169498682022095},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4593205451965332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4446380138397217},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4136180281639099},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18112733960151672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16674932837486267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1620127558708191},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14817988872528076},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09985333681106567},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2164958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2164958","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.550000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W287351490","https://openalex.org/W1485268022","https://openalex.org/W1495939432","https://openalex.org/W1965377302","https://openalex.org/W2029552212","https://openalex.org/W2031175620","https://openalex.org/W2031288314","https://openalex.org/W2066061395","https://openalex.org/W2066352782","https://openalex.org/W2070573957","https://openalex.org/W2076864228","https://openalex.org/W2081969597","https://openalex.org/W2097311579","https://openalex.org/W2125395722","https://openalex.org/W2130915832","https://openalex.org/W2133050242","https://openalex.org/W2139875418","https://openalex.org/W2158910396","https://openalex.org/W2161625236","https://openalex.org/W2172046516","https://openalex.org/W2335673768","https://openalex.org/W2411928712","https://openalex.org/W2419226988","https://openalex.org/W2484215240","https://openalex.org/W2616011212"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2401700601","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2295597290"],"abstract_inverted_index":{"Lower":[0],"limb":[1],"dynamic":[2],"cadaveric":[3,104,150],"gait":[4,60],"simulators":[5],"are":[6],"useful":[7],"to":[8,79,84,98,129,138,160],"investigate":[9],"the":[10,13,52,58,77,81,99,103,124,162],"biomechanics":[11],"of":[12,57,76,102,172],"foot":[14],"and":[15,55,121,146],"ankle,":[16],"but":[17],"many":[18],"systems":[19],"have":[20],"several":[21],"common":[22],"limitations,":[23],"which":[24,63,114],"include":[25],"simplified":[26],"tendon":[27,93,116,144],"forces,":[28,145],"nonphysiologic":[29],"tibial":[30,142],"kinematics,":[31,143],"greatly":[32],"reduced":[33],"velocities,":[34],"scaled":[35],"body":[36],"weight":[37],"(BW),":[38],"and,":[39],"most":[40],"importantly,":[41],"trial-and-error":[42],"vertical":[43],"ground":[44,85],"reaction":[45],"force":[46,97],"(vGRF)":[47],"control.":[48],"This":[49],"paper":[50],"presents":[51],"design,":[53],"development,":[54],"validation":[56],"robotic":[59,125],"simulator":[61],"(RGS),":[62],"addresses":[64],"these":[65],"limitations.":[66],"A":[67,87,107],"6-degrees-of-freedom":[68],"(6-DOF)":[69],"parallel":[70],"robot":[71],"was":[72,112,136,158],"utilized":[73],"as":[74],"part":[75],"RGS":[78,135],"recreate":[80],"relative":[82],"tibia":[83],"motion.":[86],"custom-designed":[88],"nine-axis":[89],"proportional-integral-derivative":[90],"(PID)":[91],"force-control":[92],"actuation":[94],"system":[95],"provided":[96],"extrinsic":[100],"tendons":[101],"lower":[105,151],"limb.":[106,152],"fuzzy":[108,154],"logic":[109,155],"vGRF":[110,147,156,166],"controller":[111,157],"developed,":[113],"altered":[115],"forces":[117],"in":[118,127,164],"real":[119],"time":[120],"iteratively":[122],"adjusted":[123],"trajectory":[126],"order":[128],"track":[130,161],"a":[131,149,177],"target":[132,163],"vGRF.":[133],"The":[134,153],"able":[137,159],"accurately":[139],"reproduce":[140],"6-DOF":[141],"with":[148,167],"vivo":[165],"an":[168],"average":[169],"root-mean-square":[170],"error":[171],"only":[173],"5.6%":[174],"BW":[175],"during":[176],"biomechanically":[178],"realistic":[179],"3/4":[180],"BW,":[181],"2.7-s":[182],"stance":[183],"phase":[184],"simulation.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}
