{"id":"https://openalex.org/W3215016822","doi":"https://doi.org/10.1109/tro.2021.3122975","title":"A Novel Wavelet-Based Gait Segmentation Method for a Portable Hip Exoskeleton","display_name":"A Novel Wavelet-Based Gait Segmentation Method for a Portable Hip Exoskeleton","publication_year":2021,"publication_date":"2021-11-18","ids":{"openalex":"https://openalex.org/W3215016822","doi":"https://doi.org/10.1109/tro.2021.3122975","mag":"3215016822"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3122975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3122975","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/A5004888976","display_name":"Chiara Livolsi","orcid":"https://orcid.org/0000-0001-6618-9000"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Chiara Livolsi","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6618-9000","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087149065","display_name":"R. Conti","orcid":"https://orcid.org/0000-0002-3707-5319"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberto Conti","raw_affiliation_strings":["IUVO S.r.l., Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IUVO S.r.l., Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031627615","display_name":"Francesco Giovacchini","orcid":"https://orcid.org/0009-0008-9913-5584"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francesco Giovacchini","raw_affiliation_strings":["IUVO S.r.l., Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IUVO S.r.l., Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019123028","display_name":"Nicola Vitiello","orcid":"https://orcid.org/0000-0001-8636-7716"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Vitiello","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8636-7716","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","institution_ids":["https://openalex.org/I4210116940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008055713","display_name":"Simona Crea","orcid":"https://orcid.org/0000-0001-9833-4401"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]},{"id":"https://openalex.org/I4210116940","display_name":"Don Carlo Gnocchi Foundation","ror":"https://ror.org/02e3ssq97","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210116940"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simona Crea","raw_affiliation_strings":["The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9833-4401","affiliations":[{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IRCCS Fondazione Don Carlo Gnocchi, Florence, Italy","institution_ids":["https://openalex.org/I4210116940"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004888976"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":2.3789,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.886544,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"38","issue":"3","first_page":"1503","last_page":"1517"},"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":0.9958000183105469,"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/T11227","display_name":"Diabetic Foot Ulcer Assessment and Management","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8595184683799744},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7106012105941772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5660496950149536},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.48758143186569214},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.4782799184322357},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.44911301136016846},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.42998161911964417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.425545334815979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4028274714946747},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3567427098751068},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14611828327178955},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14463216066360474},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10946491360664368}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8595184683799744},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7106012105941772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5660496950149536},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.48758143186569214},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.4782799184322357},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.44911301136016846},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.42998161911964417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.425545334815979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4028274714946747},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3567427098751068},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14611828327178955},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14463216066360474},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10946491360664368},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2021.3122975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3122975","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:www.iris.sssup.it:11382/544495","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/544495","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1218890110","display_name":null,"funder_award_id":"731931","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W158580387","https://openalex.org/W1580648284","https://openalex.org/W1966260448","https://openalex.org/W1989324306","https://openalex.org/W1996021349","https://openalex.org/W2000823852","https://openalex.org/W2003169355","https://openalex.org/W2043137231","https://openalex.org/W2053082706","https://openalex.org/W2061146189","https://openalex.org/W2066204645","https://openalex.org/W2070054839","https://openalex.org/W2073801600","https://openalex.org/W2081254081","https://openalex.org/W2082523218","https://openalex.org/W2089826029","https://openalex.org/W2100792856","https://openalex.org/W2111253117","https://openalex.org/W2122365325","https://openalex.org/W2132984323","https://openalex.org/W2141774335","https://openalex.org/W2142114107","https://openalex.org/W2156157282","https://openalex.org/W2169161640","https://openalex.org/W2216246964","https://openalex.org/W2222399534","https://openalex.org/W2346991801","https://openalex.org/W2413248676","https://openalex.org/W2416127396","https://openalex.org/W2509910711","https://openalex.org/W2512819057","https://openalex.org/W2525083240","https://openalex.org/W2527859191","https://openalex.org/W2528115153","https://openalex.org/W2528868074","https://openalex.org/W2559852960","https://openalex.org/W2590963235","https://openalex.org/W2594043787","https://openalex.org/W2607077883","https://openalex.org/W2613863000","https://openalex.org/W2742250168","https://openalex.org/W2752492856","https://openalex.org/W2762724310","https://openalex.org/W2773522662","https://openalex.org/W2803381593","https://openalex.org/W2902379278","https://openalex.org/W2949115129","https://openalex.org/W2953723536","https://openalex.org/W2964253340","https://openalex.org/W2964543462","https://openalex.org/W2964564098","https://openalex.org/W2964896674","https://openalex.org/W2965271746","https://openalex.org/W2970570305","https://openalex.org/W2980482372","https://openalex.org/W2998400386","https://openalex.org/W3010392898","https://openalex.org/W4211003818","https://openalex.org/W4231228358"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2295597290","https://openalex.org/W2471060339","https://openalex.org/W2111603423","https://openalex.org/W2148547327","https://openalex.org/W2125892956","https://openalex.org/W4226236273","https://openalex.org/W2130975749","https://openalex.org/W2790560349","https://openalex.org/W2493973380"],"abstract_inverted_index":{"For":[0],"a":[1,17,22,38,44,118,159],"lower":[2],"limb":[3],"exoskeleton,":[4],"accurate":[5],"and":[6,54,67,79,165,195,199,206,212],"continuous":[7],"estimation":[8],"of":[9,61,185,230],"the":[10,27,31,64,69,87,97,108,123,133,138,143,171,175,183,186,197,225,231],"gait":[11,32,40,65,72],"phase":[12,41,66,112,187],"in":[13,30,107,178,192],"real":[14],"time":[15,29],"is":[16,59],"fundamental":[18],"requirement":[19],"to":[20,99,103],"provide":[21],"well-tailored":[23],"assistive":[24,193],"action":[25],"at":[26,161],"proper":[28],"cycle":[33],"(GC).":[34],"This":[35],"article":[36],"presents":[37],"new":[39],"estimator":[42,113],"for":[43,137,210,227],"portable":[45],"hip":[46,88,94,167],"exoskeleton":[47],"based":[48,121],"on":[49,122,158],"discrete":[50],"wavelet":[51],"transform":[52],"(DWT)":[53],"adaptive":[55],"oscillators.":[56],"The":[57,82,110],"algorithm":[58],"capable":[60],"continuously":[62],"tracking":[63],"identifying":[68,196],"relevant":[70],"biomechanical":[71],"events":[73,201],"online,":[74],"i.e.,":[75],"heel":[76],"strike":[77],"(HS)":[78],"toe-off":[80],"(TO).":[81],"proposed":[83],"method":[84,173,177],"exploits":[85],"only":[86],"joint":[89],"angle":[90,126],"signals":[91],"measured":[92],"by":[93,190],"encoders,":[95],"avoiding":[96],"need":[98],"use":[100],"additional":[101],"sensors":[102],"those":[104],"already":[105],"built":[106],"exoskeleton.":[109],"novel":[111],"has":[114],"been":[115],"benchmarked":[116],"against":[117],"state-of-the-art":[119],"method,":[120,144],"maximum":[124],"flexion":[125],"(MFA),":[127],"with":[128,153,164,202,217],"pressure-sensitive":[129],"insoles":[130],"used":[131],"as":[132],"reference":[134],"ground":[135],"truth":[136],"event":[139],"detection.":[140],"To":[141],"validate":[142],"two":[145],"experimental":[146],"activities":[147],"were":[148],"carried":[149,215],"out.":[150],"Experiments":[151,214],"conducted":[152],"eight":[154],"healthy":[155],"subjects":[156],"walking":[157],"treadmill":[160],"different":[162],"speeds,":[163],"without":[166],"assistance,":[168],"demonstrated":[169],"that":[170],"DWT-based":[172],"outperformed":[174],"MFA":[176],"all":[179],"operative":[180],"conditions,":[181],"reducing":[182],"rms":[184],"reset":[188],"error":[189],"64.0%":[191],"mode,":[194],"HS":[198,211],"TO":[200],"low":[203],"delay":[204],"(0.4%":[205],"1.1%":[207],"GC,":[208],"respectively,":[209],"TO).":[213],"out":[216],"three":[218],"transfemoral":[219],"amputees":[220],"showed":[221],"similar":[222],"performance,":[223],"paving":[224],"way":[226],"clinical":[228],"applications":[229],"method.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}