{"id":"https://openalex.org/W2555185662","doi":"https://doi.org/10.1109/urai.2016.7734086","title":"A method of optimization based human dynamic simulation for exoskeleton robot design and assessment","display_name":"A method of optimization based human dynamic simulation for exoskeleton robot design and assessment","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2555185662","doi":"https://doi.org/10.1109/urai.2016.7734086","mag":"2555185662"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2016.7734086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5017346651","display_name":"Hyun-Joon Chung","orcid":"https://orcid.org/0000-0001-5533-9587"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Joon Chung","raw_affiliation_strings":["Korea Institute of Robot and Convergence, Pohang, 37666, Korea","Korea Institute of Robot and Convergence, Pohang, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, 37666, Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102939559","display_name":"Jae Yeon Choi","orcid":"https://orcid.org/0000-0003-1603-6502"},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Yeon Choi","raw_affiliation_strings":["Korea Institute of Robot and Convergence, Pohang, 37666, Korea","Korea Institute of Robot and Convergence, Pohang, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, 37666, Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075787707","display_name":"Goobong Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096735","display_name":"Korea Institute of Robot and Convergence","ror":"https://ror.org/00v019t60","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210096735"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Goobong Chung","raw_affiliation_strings":["Korea Institute of Robot and Convergence, Pohang, 37666, Korea","Korea Institute of Robot and Convergence, Pohang, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, 37666, Korea","institution_ids":["https://openalex.org/I4210096735"]},{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang, Korea","institution_ids":["https://openalex.org/I4210096735"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210096735"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12828274,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"476","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9968000054359436,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9930999875068665,"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":0.9037368297576904},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7503007650375366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.526265025138855},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5122348666191101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5109261870384216},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4760289490222931},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.46976161003112793},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.46900177001953125},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.46292850375175476},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45149701833724976},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4497763514518738},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4373336732387543},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36435604095458984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35409319400787354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27276870608329773},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.16259115934371948},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13620898127555847}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9037368297576904},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7503007650375366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.526265025138855},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5122348666191101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5109261870384216},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4760289490222931},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.46976161003112793},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.46900177001953125},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.46292850375175476},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45149701833724976},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4497763514518738},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4373336732387543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36435604095458984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35409319400787354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27276870608329773},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.16259115934371948},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13620898127555847},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/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/urai.2016.7734086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W16882213","https://openalex.org/W1563995018","https://openalex.org/W1968885929","https://openalex.org/W1980505543","https://openalex.org/W2015946226","https://openalex.org/W2022144657","https://openalex.org/W2029180868","https://openalex.org/W2035030428","https://openalex.org/W2037729465","https://openalex.org/W2049371627","https://openalex.org/W2073669760","https://openalex.org/W2081105850","https://openalex.org/W2083988917","https://openalex.org/W2124431379","https://openalex.org/W2126792656","https://openalex.org/W2130281033","https://openalex.org/W2225650575","https://openalex.org/W2319578846","https://openalex.org/W4230507027","https://openalex.org/W4234424994","https://openalex.org/W6633875347","https://openalex.org/W6699847885"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W2019128690","https://openalex.org/W436931041","https://openalex.org/W1495847109","https://openalex.org/W2390817143","https://openalex.org/W2106813160","https://openalex.org/W2355743697","https://openalex.org/W2894731288","https://openalex.org/W2384138382","https://openalex.org/W2381309080"],"abstract_inverted_index":{"In":[0],"this":[1,27,158],"paper":[2],"we":[3],"formulate":[4],"optimization":[5,108,115],"based":[6,95],"mathematical":[7],"model":[8,58,76],"of":[9,59,80,129,146,157],"human":[10,33,60,75,130,151],"dynamic":[11],"motion":[12,29,133],"prediction":[13],"which":[14,36],"can":[15],"be":[16,43],"used":[17,103],"as":[18,39,70,160],"an":[19,49,161],"exoskeleton":[20,50,147,162],"robot":[21,51,148],"design":[22,163],"and":[23,68,86,110,119,126,136,153,164],"assessment":[24,165],"tool.":[25,166],"With":[26],"approach,":[28],"is":[30,37,66,102],"governed":[31],"by":[32],"performance":[34],"measures":[35],"act":[38],"objective":[40],"functions":[41],"to":[42,55,104,149],"minimized":[44],"in":[45],"the":[46,56,97,106,114,132,144,150,155],"formulation.":[47],"As":[48],"model,":[52],"external":[53],"forces":[54],"skeletal":[57],"body":[61,152],"are":[62,117,134],"applied.":[63],"Lifting":[64],"task":[65],"adopted":[67],"formulated":[69],"a":[71],"numerical":[72],"example.":[73],"The":[74,121],"has":[77],"55":[78],"degrees":[79],"freedom":[81],"-":[82],"49":[83],"revolute":[84],"joints":[85],"6":[87],"global":[88],"translation":[89],"&":[90],"rotation":[91],"joints.":[92],"An":[93],"algorithm":[94],"on":[96],"sequential":[98],"quadratic":[99],"programming":[100],"approach":[101],"solve":[105],"nonlinear":[107],"problem,":[109],"analytical":[111],"gradients":[112],"for":[113],"process":[116],"calculated":[118],"provided.":[120],"results":[122],"with":[123],"joint":[124],"torques":[125],"mechanical":[127],"energy":[128],"over":[131],"recovered":[135],"analyzed":[137],"under":[138],"various":[139],"cases.":[140],"It":[141],"shows":[142],"that":[143],"effect":[145],"proves":[154],"ability":[156],"research":[159]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
