{"id":"https://openalex.org/W4226377401","doi":"https://doi.org/10.1109/tro.2021.3133137","title":"Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost","display_name":"Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost","publication_year":2022,"publication_date":"2022-02-01","ids":{"openalex":"https://openalex.org/W4226377401","doi":"https://doi.org/10.1109/tro.2021.3133137"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3133137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3133137","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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://www.research.ed.ac.uk/files/258696285/Human_In_The_Loop_GORDON_DOA17112021_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101907592","display_name":"Daniel Gordon","orcid":"https://orcid.org/0000-0001-7909-2793"},"institutions":[{"id":"https://openalex.org/I4210128584","display_name":"The Alan Turing Institute","ror":"https://ror.org/035dkdb55","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210128584"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel F. N. Gordon","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K","Alan Turing Institute, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7909-2793","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Alan Turing Institute, London, U.K","institution_ids":["https://openalex.org/I4210128584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043683982","display_name":"Christopher McGreavy","orcid":"https://orcid.org/0000-0001-8424-1941"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christopher McGreavy","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8424-1941","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015748269","display_name":"Andreas Christou","orcid":"https://orcid.org/0000-0001-7018-7606"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andreas Christou","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7018-7606","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I4210128584","display_name":"The Alan Turing Institute","ror":"https://ror.org/035dkdb55","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210128584"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K","Alan Turing Institute, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0649-7241","affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Alan Turing Institute, London, U.K","institution_ids":["https://openalex.org/I4210128584"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4303,"has_fulltext":true,"cited_by_count":97,"citation_normalized_percentile":{"value":0.98131439,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"38","issue":"3","first_page":"1410","last_page":"1429"},"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":0.994700014591217,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7917264103889465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.587652862071991},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.474344402551651},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.45388680696487427},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.446617990732193},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42262423038482666},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.4131092429161072}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7917264103889465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.587652862071991},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.474344402551651},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.45388680696487427},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.446617990732193},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42262423038482666},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.4131092429161072},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2021.3133137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3133137","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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:pure.ed.ac.uk:publications/af673fd4-466e-421e-b5ba-e52dd5e2f79c","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/af673fd4-466e-421e-b5ba-e52dd5e2f79c","pdf_url":"https://www.research.ed.ac.uk/files/258696285/Human_In_The_Loop_GORDON_DOA17112021_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Gordon, D F N, McGreavy, C, Christou, A & Vijayakumar, S 2022, 'Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost', IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1410-1429. https://doi.org/10.1109/TRO.2021.3133137","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/af673fd4-466e-421e-b5ba-e52dd5e2f79c","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/af673fd4-466e-421e-b5ba-e52dd5e2f79c","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Gordon, D F N, McGreavy, C, Christou, A & Vijayakumar, S 2022, 'Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost', IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1410-1429. https://doi.org/10.1109/TRO.2021.3133137","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/af673fd4-466e-421e-b5ba-e52dd5e2f79c","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/af673fd4-466e-421e-b5ba-e52dd5e2f79c","pdf_url":"https://www.research.ed.ac.uk/files/258696285/Human_In_The_Loop_GORDON_DOA17112021_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"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":"Gordon, D F N, McGreavy, C, Christou, A & Vijayakumar, S 2022, 'Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost', IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1410-1429. https://doi.org/10.1109/TRO.2021.3133137","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1127646451","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5045220161","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5313779304","display_name":"Memory of Motion","funder_award_id":"780684","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7258299093","display_name":null,"funder_award_id":"MEMMO, 780684","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8675054711","display_name":"EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems (RAS) in Edinburgh","funder_award_id":"EP/L016834/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320332","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226377401.pdf","grobid_xml":"https://content.openalex.org/works/W4226377401.grobid-xml"},"referenced_works_count":77,"referenced_works":["https://openalex.org/W1864504421","https://openalex.org/W1974860030","https://openalex.org/W1979826626","https://openalex.org/W1991235214","https://openalex.org/W1991406901","https://openalex.org/W2033299989","https://openalex.org/W2034108388","https://openalex.org/W2058074226","https://openalex.org/W2073801600","https://openalex.org/W2081254081","https://openalex.org/W2082944570","https://openalex.org/W2084624499","https://openalex.org/W2086859163","https://openalex.org/W2089826029","https://openalex.org/W2100792856","https://openalex.org/W2102046115","https://openalex.org/W2105236479","https://openalex.org/W2115455197","https://openalex.org/W2116951991","https://openalex.org/W2126165953","https://openalex.org/W2130281033","https://openalex.org/W2130848211","https://openalex.org/W2131241448","https://openalex.org/W2140687148","https://openalex.org/W2144781570","https://openalex.org/W2150513221","https://openalex.org/W2151816387","https://openalex.org/W2151906934","https://openalex.org/W2152045363","https://openalex.org/W2155613732","https://openalex.org/W2160983925","https://openalex.org/W2166709094","https://openalex.org/W2196056879","https://openalex.org/W2236853351","https://openalex.org/W2289112630","https://openalex.org/W2347006312","https://openalex.org/W2411309527","https://openalex.org/W2469455623","https://openalex.org/W2471234362","https://openalex.org/W2522365874","https://openalex.org/W2528868074","https://openalex.org/W2560371808","https://openalex.org/W2562207568","https://openalex.org/W2576893463","https://openalex.org/W2594043787","https://openalex.org/W2601067365","https://openalex.org/W2602629040","https://openalex.org/W2606248652","https://openalex.org/W2609988131","https://openalex.org/W2615566485","https://openalex.org/W2700163520","https://openalex.org/W2734866036","https://openalex.org/W2755367247","https://openalex.org/W2788331089","https://openalex.org/W2790263806","https://openalex.org/W2810482855","https://openalex.org/W2884696611","https://openalex.org/W2896734716","https://openalex.org/W2908002960","https://openalex.org/W2909711564","https://openalex.org/W2944344930","https://openalex.org/W2950049504","https://openalex.org/W2966691925","https://openalex.org/W2967549816","https://openalex.org/W2968742177","https://openalex.org/W2974081075","https://openalex.org/W2988731775","https://openalex.org/W3011807390","https://openalex.org/W3034289395","https://openalex.org/W3045517625","https://openalex.org/W3089111941","https://openalex.org/W3091627088","https://openalex.org/W3094084323","https://openalex.org/W3110545251","https://openalex.org/W3206688904","https://openalex.org/W6678911119","https://openalex.org/W6738032516"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2906683640","https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W2909939948"],"abstract_inverted_index":{"Many":[0],"assistive":[1,62,104,130],"robotic":[2],"devices":[3],"have":[4,56],"been":[5,57],"developed":[6],"to":[7,46,59,68,92,118,128,144,149,179,191,207],"augment":[8],"or":[9,151,212],"assist":[10],"human":[11],"locomotion.":[12],"Despite":[13],"advancements":[14],"in":[15],"design":[16],"and":[17,29,31,86,140,162],"control":[18,84,216],"algorithms,":[19],"this":[20],"task":[21],"remains":[22],"challenging.":[23],"Human":[24],"walking":[25,136],"strategies":[26,33,182],"are":[27,116],"unique":[28],"complex,":[30],"assistance":[32,173,181],"based":[34],"on":[35,137,195],"the":[36,47,80,103,198],"dynamics":[37],"of":[38,50,82,172],"unassisted":[39],"locomotion":[40],"typically":[41],"offer":[42,65],"only":[43],"modest":[44],"reductions":[45,143],"metabolic":[48,121,145,164],"cost":[49,146],"walking.":[51],"Recently,":[52],"human-in-the-loop":[53],"(HIL)":[54],"methodologies":[55],"used":[58,206],"identify":[60,129,180],"subject-specific":[61],"strategies,":[63],"which":[64,101],"significant":[66],"improvements":[67],"energy":[69,220],"savings.":[70,221],"However,":[71],"current":[72],"implementations":[73],"suffer":[74],"from":[75],"long":[76],"measurement":[77],"times,":[78],"necessitating":[79],"use":[81],"low-dimensional":[83],"parameterizations,":[85],"possibly":[87],"requiring":[88],"multiday":[89],"collection":[90],"protocols":[91,193,211],"avoid":[93],"subject":[94],"fatigue.":[95],"We":[96,124],"present":[97],"a":[98,108,138,155,170],"HIL":[99,210],"methodology,":[100],"optimizes":[102],"torques":[105],"provided":[106],"by":[107],"powered":[109],"hip":[110],"exoskeleton.":[111],"Using":[112],"musculoskeletal":[113],"modeling,":[114],"we":[115,158],"able":[117],"evaluate":[119],"simulated":[120,161],"rate":[122,165],"online.":[123],"applied":[125],"our":[126,184],"methodology":[127],"torque":[131],"profiles":[132],"for":[133,166,218],"seven":[134],"subjects":[135,168],"treadmill,":[139],"found":[141],"greater":[142,219],"when":[147,189],"compared":[148,190],"generic":[150],"off-the-shelf":[152],"controllers.":[153],"In":[154,197],"secondary":[156],"investigation,":[157],"directly":[159],"compare":[160],"measured":[163],"three":[167],"experiencing":[169],"range":[171],"levels.":[174],"The":[175],"time":[176],"investment":[177],"required":[178],"via":[183],"protocol":[185],"is":[186],"significantly":[187],"lower":[188],"existing":[192],"relying":[194],"calorimetry.":[196],"future,":[199],"frameworks":[200],"such":[201],"as":[202],"these":[203],"could":[204],"be":[205],"enable":[208],"shorter":[209],"exploit":[213],"more":[214],"complex":[215],"parameterizations":[217]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}