{"id":"https://openalex.org/W4206050283","doi":"https://doi.org/10.1109/tro.2021.3137748","title":"Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit","display_name":"Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit","publication_year":2022,"publication_date":"2022-01-13","ids":{"openalex":"https://openalex.org/W4206050283","doi":"https://doi.org/10.1109/tro.2021.3137748"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3137748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3137748","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/A5071897929","display_name":"Nicola Lotti","orcid":"https://orcid.org/0000-0001-8125-4712"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nicola Lotti","raw_affiliation_strings":["Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland"],"raw_orcid":"https://orcid.org/0000-0001-8125-4712","affiliations":[{"raw_affiliation_string":"Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009837042","display_name":"Michele Xiloyannis","orcid":"https://orcid.org/0000-0001-8415-7854"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michele Xiloyannis","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8415-7854","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055492278","display_name":"Francesco Missiroli","orcid":"https://orcid.org/0000-0002-2184-9981"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Francesco Missiroli","raw_affiliation_strings":["Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland"],"raw_orcid":"https://orcid.org/0000-0002-2184-9981","affiliations":[{"raw_affiliation_string":"Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082326658","display_name":"Casimir Bokranz","orcid":"https://orcid.org/0000-0001-6631-9135"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Casimir Bokranz","raw_affiliation_strings":["Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland"],"raw_orcid":"https://orcid.org/0000-0001-6631-9135","affiliations":[{"raw_affiliation_string":"Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073326156","display_name":"Domenico Chiaradia","orcid":"https://orcid.org/0000-0002-6183-0804"},"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":false,"raw_author_name":"Domenico Chiaradia","raw_affiliation_strings":["TeCIP Institute, PERCRO Laboratory, Scuola Superiore Sant&#x2019;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6183-0804","affiliations":[{"raw_affiliation_string":"TeCIP Institute, PERCRO Laboratory, Scuola Superiore Sant&#x2019;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"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":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["TeCIP Institute, PERCRO Laboratory, Scuola Superiore Sant&#x2019;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7126-4113","affiliations":[{"raw_affiliation_string":"TeCIP Institute, PERCRO Laboratory, Scuola Superiore Sant&#x2019;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053676944","display_name":"Robert Riener","orcid":"https://orcid.org/0000-0002-1726-2950"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert Riener","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1726-2950","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003141287","display_name":"Lorenzo Masia","orcid":"https://orcid.org/0000-0003-2402-7139"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lorenzo Masia","raw_affiliation_strings":["Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland"],"raw_orcid":"https://orcid.org/0000-0003-2402-7139","affiliations":[{"raw_affiliation_string":"Institut f&#x00FC;r Technische Informatik (ZITI), Heidelberg University, Heidelberg, Deutschland","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5071897929"],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":3.1057,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.92001288,"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":"1363","last_page":"1379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9937999844551086,"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/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.723166286945343},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6699395179748535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5863167643547058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5503175854682922},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5136305689811707},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4821843206882477},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4462437331676483},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.34690743684768677},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.313131719827652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1547522246837616},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.11264577507972717}],"concepts":[{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.723166286945343},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6699395179748535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5863167643547058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5503175854682922},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5136305689811707},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4821843206882477},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4462437331676483},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.34690743684768677},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.313131719827652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1547522246837616},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.11264577507972717},{"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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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.2021.3137748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3137748","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:11382/544771","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/544771","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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309895","display_name":"Carl-Zeiss-Stiftung","ror":"https://ror.org/03ng4kg22"},{"id":"https://openalex.org/F4320331353","display_name":"National Center of Competence in Research Chemical Biology","ror":"https://ror.org/033f9yy33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W576841362","https://openalex.org/W600400792","https://openalex.org/W629053621","https://openalex.org/W1549114171","https://openalex.org/W1922715780","https://openalex.org/W1971702085","https://openalex.org/W2000439420","https://openalex.org/W2002161214","https://openalex.org/W2002357899","https://openalex.org/W2015977498","https://openalex.org/W2017226208","https://openalex.org/W2032698539","https://openalex.org/W2036411590","https://openalex.org/W2058841421","https://openalex.org/W2066260126","https://openalex.org/W2089666999","https://openalex.org/W2099391470","https://openalex.org/W2130769860","https://openalex.org/W2134525555","https://openalex.org/W2136195281","https://openalex.org/W2149646777","https://openalex.org/W2157780858","https://openalex.org/W2158404451","https://openalex.org/W2161058047","https://openalex.org/W2166013576","https://openalex.org/W2169508341","https://openalex.org/W2185748799","https://openalex.org/W2323110956","https://openalex.org/W2554437167","https://openalex.org/W2612974132","https://openalex.org/W2732599194","https://openalex.org/W2746803474","https://openalex.org/W2793156459","https://openalex.org/W2830500565","https://openalex.org/W2890243010","https://openalex.org/W2911242871","https://openalex.org/W2915802974","https://openalex.org/W2921164544","https://openalex.org/W2942766443","https://openalex.org/W2958727843","https://openalex.org/W2967902380","https://openalex.org/W3002560956","https://openalex.org/W3010829948","https://openalex.org/W3013258845","https://openalex.org/W3023051933","https://openalex.org/W3035926617","https://openalex.org/W3037152785","https://openalex.org/W3093912452","https://openalex.org/W3094269237","https://openalex.org/W3112729848","https://openalex.org/W3127532684","https://openalex.org/W3135491679","https://openalex.org/W3164054943","https://openalex.org/W3174451086","https://openalex.org/W4205467692","https://openalex.org/W4251318673","https://openalex.org/W6632872799"],"related_works":["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/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"The":[0,204,246],"intention-detection":[1],"strategy":[2],"used":[3,282],"to":[4,10,157,170,179,210,232,286,293],"drive":[5],"an":[6,91],"exosuit":[7,205],"is":[8,258],"fundamental":[9],"evaluate":[11],"the":[12,17,29,40,73,77,149,160,163,173,184,189,211,226,240,262,278],"effectiveness":[13],"and":[14,47,57,82,133,139,168,196,248,264,292,297],"acceptability":[15,265],"of":[16,32,79,107,115,122,162,250,266,277],"device.":[18],"Yet,":[19],"current":[20],"literature":[21],"on":[22,28,50,104],"wearable":[23,52,256],"soft":[24],"robotics":[25],"lacks":[26],"evidence":[27],"comparative":[30],"performance":[31,142],"different":[33,46,296],"control":[34,65,85,283],"approaches":[35],"for":[36,143,260],"online":[37],"intention-detection.":[38],"In":[39,147,269],"present":[41],"work,":[42],"we":[43,272],"compare":[44],"two":[45,279],"complementary":[48,298],"controllers":[49,130],"a":[51,62,83,105,119,180,274],"robotic":[53],"suit,":[54],"previously":[55],"formulated":[56],"tested":[58],"by":[59,155,225],"our":[60],"group;":[61],"model-based":[63],"myoelectric":[64],"(":[66,95],"<italic":[67,96,164,174,185,190,227,241],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[68,97,165,175,186,191,216,228,234,242],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">myoprocessor</i>":[69,176,187,229],"),":[70],"which":[71],"estimates":[72,87],"joint":[74],"torque":[75],"from":[76],"activation":[78],"target":[80],"muscles,":[81],"force":[84],"that":[86,128,200],"human":[88],"torques":[89],"using":[90],"inverse":[92],"dynamics":[93],"model":[94],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">dynamic":[98,166,192,243],"arm</i>":[99,167,193,244],").":[100],"We":[101],"test":[102],"them":[103],"cohort":[106],"healthy":[108],"participants":[109],"performing":[110],"tasks":[111],"replicating":[112],"functional":[113],"activities":[114],"daily":[116],"living":[117],"involving":[118],"wide":[120],"range":[121],"dynamic":[123],"movements.":[124],"Our":[125],"results":[126],"suggest":[127],"both":[129,261],"are":[131],"robust":[132],"effective":[134],"in":[135,194,255],"detecting":[136],"human\u2013motor":[137],"interaction,":[138],"show":[140],"comparable":[141],"augmenting":[144],"muscular":[145],"activity.":[146],"particular,":[148],"biceps":[150],"brachii":[151],"activity":[152],"was":[153,214,223],"reduced":[154],"up":[156,169],"74%":[158],"under":[159,172],"assistance":[161,197],"47%":[171],",":[177,230],"compared":[178,231],"no-suit":[181],"condition.":[182,245],"However,":[183],"outperformed":[188],"promptness":[195],"during":[198,239],"movements":[199],"involve":[201],"high":[202],"dynamics.":[203],"work":[206,213],"normalized":[207],"with":[208],"respect":[209],"overall":[212],"<inline-formula":[215,233],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[217,235],"notation=\"LaTeX\">$68.84":[218],"\\pm":[219,237],"3.81\\%$</tex-math></inline-formula>":[220],"when":[221],"it":[222],"ran":[224],"notation=\"LaTeX\">$45.29":[236],"7.71\\%$</tex-math></inline-formula>":[238],"reliability":[247],"accuracy":[249],"motor":[251],"intention":[252],"detection":[253],"strategies":[254],"device":[257],"paramount":[259],"efficacy":[263],"this":[267,270],"technology.":[268],"article,":[271],"offer":[273],"detailed":[275],"analysis":[276],"most":[280],"widely":[281],"approaches,":[284],"trying":[285],"highlight":[287],"their":[288,295],"intrinsic":[289],"structural":[290],"differences":[291],"discuss":[294],"performance.":[299]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":12}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}