{"id":"https://openalex.org/W2516874785","doi":"https://doi.org/10.1109/tro.2016.2572695","title":"Estimation of Human Hip and Knee Multi-Joint Dynamics Using the LOPES Gait Trainer","display_name":"Estimation of Human Hip and Knee Multi-Joint Dynamics Using the LOPES Gait Trainer","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2516874785","doi":"https://doi.org/10.1109/tro.2016.2572695","mag":"2516874785"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2016.2572695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2572695","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":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/6910054/Koopman%20Estimation%20of%20Human%20Hip%20and%20Knee%20Multi-Joint%20Dynamics%20Using%20the%20LOPES%20Gait%20Trainer%202016.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Bram Koopman","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bram Koopman","raw_affiliation_strings":["University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001880280","display_name":"Edwin van Asseldonk","orcid":"https://orcid.org/0000-0003-1534-2348"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Edwin H. F. van Asseldonk","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083232835","display_name":"Herman van der Kooij","orcid":"https://orcid.org/0000-0002-7926-3262"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Herman van der Kooij","raw_affiliation_strings":["Department of Biomechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4003,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.81244615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"4","first_page":"920","last_page":"932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10784","display_name":"Muscle activation and electromyography studies","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"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/gait","display_name":"Gait","score":0.687165379524231},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6542911529541016},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.6120741963386536},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.598289966583252},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5329787731170654},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5156965851783752},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5068009495735168},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.4954715967178345},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.46878042817115784},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.45166873931884766},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4362436830997467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4231416583061218},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42000311613082886},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.35109812021255493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3056744635105133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28619539737701416},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.25126105546951294},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.173651784658432},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09818524122238159}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.687165379524231},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6542911529541016},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.6120741963386536},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.598289966583252},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5329787731170654},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5156965851783752},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5068009495735168},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.4954715967178345},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.46878042817115784},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.45166873931884766},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4362436830997467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4231416583061218},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42000311613082886},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.35109812021255493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3056744635105133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28619539737701416},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.25126105546951294},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.173651784658432},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09818524122238159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2016.2572695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2016.2572695","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"},{"id":"pmh:oai:ris.utwente.nl:openaire/cb908183-db98-4ce7-9979-1257115da8ec","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/cb908183-db98-4ce7-9979-1257115da8ec","pdf_url":"https://ris.utwente.nl/ws/files/6910054/Koopman%20Estimation%20of%20Human%20Hip%20and%20Knee%20Multi-Joint%20Dynamics%20Using%20the%20LOPES%20Gait%20Trainer%202016.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Koopman, H F J M, van Asseldonk, E H F & van der Kooij, H 2016, 'Estimation of Human Hip and Knee Multi-Joint Dynamics Using the LOPES Gait Trainer', IEEE transactions on robotics, vol. 32, no. 4, 7548389, pp. 920-932. https://doi.org/10.1109/TRO.2016.2572695","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/cb908183-db98-4ce7-9979-1257115da8ec","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/cb908183-db98-4ce7-9979-1257115da8ec","pdf_url":"https://ris.utwente.nl/ws/files/6910054/Koopman%20Estimation%20of%20Human%20Hip%20and%20Knee%20Multi-Joint%20Dynamics%20Using%20the%20LOPES%20Gait%20Trainer%202016.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Koopman, H F J M, van Asseldonk, E H F & van der Kooij, H 2016, 'Estimation of Human Hip and Knee Multi-Joint Dynamics Using the LOPES Gait Trainer', IEEE transactions on robotics, vol. 32, no. 4, 7548389, pp. 920-932. https://doi.org/10.1109/TRO.2016.2572695","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321015","display_name":"University of Twente","ror":"https://ror.org/006hf6230"},{"id":"https://openalex.org/F4320327911","display_name":"Provincie Overijssel","ror":null},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2516874785.pdf","grobid_xml":"https://content.openalex.org/works/W2516874785.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W1515361063","https://openalex.org/W1584749760","https://openalex.org/W1916485854","https://openalex.org/W1967246448","https://openalex.org/W1968467052","https://openalex.org/W1973289185","https://openalex.org/W1979094403","https://openalex.org/W1979403351","https://openalex.org/W1987890863","https://openalex.org/W1989721073","https://openalex.org/W1993296072","https://openalex.org/W1996915312","https://openalex.org/W1998584752","https://openalex.org/W2007100062","https://openalex.org/W2009317155","https://openalex.org/W2009833515","https://openalex.org/W2017380219","https://openalex.org/W2017386762","https://openalex.org/W2021504054","https://openalex.org/W2029903726","https://openalex.org/W2032233867","https://openalex.org/W2033969256","https://openalex.org/W2038159945","https://openalex.org/W2039703906","https://openalex.org/W2045533797","https://openalex.org/W2046363790","https://openalex.org/W2053099831","https://openalex.org/W2053133492","https://openalex.org/W2056358288","https://openalex.org/W2061652504","https://openalex.org/W2062621591","https://openalex.org/W2068889158","https://openalex.org/W2077008822","https://openalex.org/W2092646159","https://openalex.org/W2094526935","https://openalex.org/W2105794428","https://openalex.org/W2105807067","https://openalex.org/W2106625859","https://openalex.org/W2115848935","https://openalex.org/W2121662396","https://openalex.org/W2123261256","https://openalex.org/W2130829057","https://openalex.org/W2132887428","https://openalex.org/W2134899562","https://openalex.org/W2135027471","https://openalex.org/W2142648872","https://openalex.org/W2156750983","https://openalex.org/W2162249689","https://openalex.org/W2166869394","https://openalex.org/W2254685193","https://openalex.org/W2460448969","https://openalex.org/W4249762338","https://openalex.org/W4285719527","https://openalex.org/W6680451712","https://openalex.org/W6691757605"],"related_works":["https://openalex.org/W2069152157","https://openalex.org/W3003233771","https://openalex.org/W4297095242","https://openalex.org/W4220710657","https://openalex.org/W1873835628","https://openalex.org/W2149094049","https://openalex.org/W2370767810","https://openalex.org/W2384444062","https://openalex.org/W3125540278","https://openalex.org/W2039696452"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3],"present":[4],"and":[5,30,40,51,64,72,75,83,103,169,182],"evaluate":[6],"a":[7,16,163],"novel":[8],"method":[9,22],"to":[10,94,179],"estimate":[11],"multi-joint":[12,128],"leg":[13,57,111],"impedance,":[14],"using":[15],"robotic":[17,141,154],"gait":[18,142,155,193],"training":[19,143,156],"device.":[20],"The":[21,77,98,113],"is":[23,31,138],"based":[24],"on":[25],"multi-input-multi-output":[26],"system":[27],"identification":[28],"techniques":[29],"designed":[32],"for":[33,140,166],"continuous":[34],"torque":[35],"perturbations":[36],"at":[37],"the":[38,90,95,101,117,121,134,153],"hip":[39],"knee":[41],"joint":[42,131,148,176,189],"simultaneously.":[43],"Eight":[44],"elderly":[45],"subjects":[46],"(age":[47],"67-82)":[48],"performed":[49],"relax":[50,96],"position":[52,91],"tasks":[53],"in":[54,68,150,187],"three":[55],"different":[56],"orientations.":[58],"Multi-joint":[59],"impedance":[60],"was":[61,65],"estimated":[62],"nonparametrically":[63],"subsequently":[66],"modeled":[67],"terms":[69],"of":[70,100,119,147,172],"inertia":[71],"(inter)joint":[73],"stiffness":[74,82,102,132,177],"damping.":[76],"results":[78,114],"indicate":[79],"that":[80,137],"all":[81],"damping":[84,104],"parameters":[85,105],"were":[86,106],"significantly":[87,108],"higher":[88],"during":[89],"task":[92],"compared":[93],"task.":[97],"majority":[99],"not":[107],"affected":[109],"by":[110],"orientation.":[112],"also":[115],"emphasize":[116],"importance":[118],"considering":[120],"visco-elastic":[122],"coupling":[123],"between":[124],"joints":[125],"when":[126],"modeling":[127],"dynamics.":[129],"Measuring":[130],"with":[133,152,174],"same":[135],"device":[136],"used":[139],"allows":[144],"convenient":[145],"testing":[146],"properties":[149,190],"conjunction":[151],"protocol.":[157],"These":[158],"measures":[159],"might":[160],"serve":[161],"as":[162],"good":[164],"basis":[165],"quantitative":[167],"assessment":[168],"follow":[170],"up":[171],"patients":[173],"abnormal":[175],"due":[178],"neurological":[180],"disorders,":[181],"may":[183],"reveal":[184],"how":[185],"changes":[186],"these":[188],"affect":[191],"their":[192],"function.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}