{"id":"https://openalex.org/W2503343795","doi":"https://doi.org/10.1109/biorob.2016.7523793","title":"Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground","display_name":"Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2503343795","doi":"https://doi.org/10.1109/biorob.2016.7523793","mag":"2503343795"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","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/A5055577582","display_name":"Debora Clever","orcid":"https://orcid.org/0000-0002-0542-3833"},"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":"Debora Clever","raw_affiliation_strings":["Optimization in Robotics & Biomechanics (ORB), University of Heidelberg"],"affiliations":[{"raw_affiliation_string":"Optimization in Robotics & Biomechanics (ORB), University of Heidelberg","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031708118","display_name":"R. Malin Schemschat","orcid":null},"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":"R. Malin Schemschat","raw_affiliation_strings":["Optimization in Robotics & Biomechanics (ORB), University of Heidelberg"],"affiliations":[{"raw_affiliation_string":"Optimization in Robotics & Biomechanics (ORB), University of Heidelberg","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021943562","display_name":"Martin L. Felis","orcid":"https://orcid.org/0000-0002-1221-8029"},"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":"Martin L. Felis","raw_affiliation_strings":["Optimization in Robotics & Biomechanics (ORB), University of Heidelberg"],"affiliations":[{"raw_affiliation_string":"Optimization in Robotics & Biomechanics (ORB), University of Heidelberg","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"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":"Katja Mombaur","raw_affiliation_strings":["Optimization in Robotics & Biomechanics (ORB), University of Heidelberg"],"affiliations":[{"raw_affiliation_string":"Optimization in Robotics & Biomechanics (ORB), University of Heidelberg","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055577582"],"corresponding_institution_ids":["https://openalex.org/I223822909"],"apc_list":null,"apc_paid":null,"fwci":3.0769,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.91268631,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1192","last_page":"1199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980999827384949,"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":0.9980999827384949,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9918000102043152,"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/flexibility","display_name":"Flexibility (engineering)","score":0.69932621717453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6193395256996155},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5574773550033569},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5519310832023621},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5384891033172607},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4776372015476227},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46032586693763733},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.45677652955055237},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4492616653442383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3527058959007263},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3504539728164673},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33268505334854126},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3001384735107422},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.15866336226463318}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.69932621717453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6193395256996155},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5574773550033569},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5519310832023621},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5384891033172607},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4776372015476227},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46032586693763733},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.45677652955055237},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4492616653442383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3527058959007263},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3504539728164673},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33268505334854126},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3001384735107422},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.15866336226463318},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1451881698","https://openalex.org/W1496321300","https://openalex.org/W1555338056","https://openalex.org/W1801976851","https://openalex.org/W1968077281","https://openalex.org/W1997138910","https://openalex.org/W1997576152","https://openalex.org/W1998835624","https://openalex.org/W2035366078","https://openalex.org/W2036407851","https://openalex.org/W2037997802","https://openalex.org/W2098284983","https://openalex.org/W2110194613","https://openalex.org/W2198775391","https://openalex.org/W2312766351","https://openalex.org/W2413608038","https://openalex.org/W2462015191","https://openalex.org/W2505086575","https://openalex.org/W2601317688","https://openalex.org/W2769585718","https://openalex.org/W6674909112","https://openalex.org/W6676789925","https://openalex.org/W6746511922"],"related_works":["https://openalex.org/W2066291330","https://openalex.org/W2524352968","https://openalex.org/W3009794104","https://openalex.org/W2231899242","https://openalex.org/W4285071043","https://openalex.org/W2265255950","https://openalex.org/W2198692434","https://openalex.org/W2254916182","https://openalex.org/W2129529543","https://openalex.org/W1992901183"],"abstract_inverted_index":{"Understanding":[0],"the":[1,16,34,83,88,97,108,113,138,150,154,160,166,175,179,185],"underlying":[2],"concepts":[3],"of":[4,12,57,87,99,120,140,146,193,199,216],"human":[5,19,38,43,203,217],"locomotion":[6],"is":[7,45,74,205,219],"important":[8,208],"for":[9,92,124,143,210],"many":[10],"fields":[11],"research.":[13],"Based":[14],"on":[15],"assumption":[17],"that":[18,187],"motions":[20,127],"are":[21],"optimal,":[22],"we":[23,111],"propose":[24],"an":[25],"inverse":[26],"optimal":[27,50],"control":[28,51],"(IOC)":[29],"based":[30],"approach":[31,116],"to":[32,117,184,226,230,238,246],"identify":[33,118],"optimality":[35,59,135,194,200],"criteria":[36,123,136,201],"in":[37,77,96,202,223,235,243],"walking.":[39],"To":[40],"this":[41],"end,":[42],"walking":[44,126,177,204,249],"modeled":[46],"as":[47,61,69],"a":[48,54,64,78,93,190,206,214],"non-linear":[49],"problem":[52],"with":[53],"linear":[55],"combination":[56],"elementary":[58,122],"functions":[60],"objective":[62],"and":[63,81,103,153],"hybrid":[65],"dynamics":[66],"multi-body":[67],"system":[68],"constraints.":[70],"The":[71,133,197],"developed":[72,114],"IOC-framework":[73],"set":[75],"up":[76],"modular":[79],"way":[80],"exploits":[82],"natural":[84],"bi-level":[85],"structure":[86],"problem.":[89],"It":[90],"allows":[91],"great":[94],"flexibility":[95],"choice":[98],"outer":[100],"optimization":[101],"techniques":[102],"inner":[104],"dynamic":[105],"models.":[106],"In":[107],"present":[109],"work,":[110],"use":[112],"IOC":[115],"weights":[119,168],"seven":[121,125],"captured":[128],"from":[129],"six":[130],"different":[131,176],"subjects.":[132,196],"considered":[134],"address":[137],"minimization":[139],"joint":[141],"torques":[142],"four":[144],"sets":[145],"joints,":[147],"head":[148],"stabilization,":[149],"step":[151,155],"length,":[152],"frequency.":[156],"For":[157,221],"all":[158,211],"trials":[159],"algorithm":[161],"performs":[162],"successfully.":[163],"Even":[164],"though":[165],"identified":[167],"differ":[169],"observably":[170],"between":[171],"subjects,":[172],"which":[173],"explains":[174],"styles,":[178],"correlation":[180,192],"matrix":[181],"gives":[182],"rise":[183],"hypothesis":[186],"there":[188],"exists":[189],"significant":[191],"across":[195],"identification":[198],"very":[207],"issue":[209],"disciplines,":[212],"where":[213],"prediction":[215],"behavior":[218],"needed.":[220],"example":[222],"medical":[224],"applications":[225],"improve":[227,239],"therapies":[228],"or":[229,242],"develop":[231,247],"new":[232,248],"mobility":[233],"devices,":[234],"sport":[236],"science":[237],"training":[240],"plans":[241],"humanoid":[244],"robotics":[245],"strategies.":[250]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}