{"id":"https://openalex.org/W4380537496","doi":"https://doi.org/10.1109/lra.2023.3285081","title":"Trajectory Learning by Therapists' Demonstrations for an Upper Limb Rehabilitation Exoskeleton","display_name":"Trajectory Learning by Therapists' Demonstrations for an Upper Limb Rehabilitation Exoskeleton","publication_year":2023,"publication_date":"2023-06-13","ids":{"openalex":"https://openalex.org/W4380537496","doi":"https://doi.org/10.1109/lra.2023.3285081"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3285081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3285081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10153452/10151668.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10153452/10151668.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049760560","display_name":"Beatrice Luciani","orcid":"https://orcid.org/0000-0002-6611-4655"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Beatrice Luciani","raw_affiliation_strings":["NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","WE-COBOT laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6611-4655","affiliations":[{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"WE-COBOT laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Istituto Dalle Molle di studi sull&#x0027;Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit&#x00E0; della Svizzera italiana (USI), Lugano, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4427-536X","affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull&#x0027;Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit&#x00E0; della Svizzera italiana (USI), Lugano, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050750282","display_name":"Francesco Braghin","orcid":"https://orcid.org/0000-0002-0476-4118"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Braghin","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","WE-COBOT Laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0476-4118","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"WE-COBOT Laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028968615","display_name":"Alessandra Pedrocchi","orcid":"https://orcid.org/0000-0001-9957-2786"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandra Pedrocchi","raw_affiliation_strings":["NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","WE-COBOT Laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9957-2786","affiliations":[{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"WE-COBOT Laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065068777","display_name":"Marta Gandolla","orcid":"https://orcid.org/0000-0001-5237-714X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marta Gandolla","raw_affiliation_strings":["NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","WE-COBOT laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5237-714X","affiliations":[{"raw_affiliation_string":"NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"WE-COBOT laboratory, Polo Territoriale di Lecco, Politecnico di Milano, Lecco, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8514,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85472318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"8","first_page":"4561","last_page":"4568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9887999892234802,"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":0.8292623162269592},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7383473515510559},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6121735572814941},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5941681861877441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5668279528617859},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5228303074836731},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.454346626996994},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.42495980858802795},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.37413284182548523},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3386196494102478},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2314337193965912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20917484164237976},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1460837721824646},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.10250940918922424}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8292623162269592},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7383473515510559},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6121735572814941},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5941681861877441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5668279528617859},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5228303074836731},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.454346626996994},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.42495980858802795},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.37413284182548523},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3386196494102478},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2314337193965912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20917484164237976},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1460837721824646},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.10250940918922424},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/lra.2023.3285081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3285081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10153452/10151668.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1258695","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1258695","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":{"id":"doi:10.1109/lra.2023.3285081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3285081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10153452/10151668.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4380537496.pdf","grobid_xml":"https://content.openalex.org/works/W4380537496.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1838144714","https://openalex.org/W1982221577","https://openalex.org/W1986238878","https://openalex.org/W2018018299","https://openalex.org/W2030742234","https://openalex.org/W2084109593","https://openalex.org/W2100944730","https://openalex.org/W2106148840","https://openalex.org/W2125838338","https://openalex.org/W2134383396","https://openalex.org/W2157989317","https://openalex.org/W2160514056","https://openalex.org/W2164553222","https://openalex.org/W2169983797","https://openalex.org/W2325621737","https://openalex.org/W2517858288","https://openalex.org/W2616036116","https://openalex.org/W2746722244","https://openalex.org/W2789738248","https://openalex.org/W2903201307","https://openalex.org/W2921749258","https://openalex.org/W2922217587","https://openalex.org/W3027465831","https://openalex.org/W3035497536","https://openalex.org/W3096747653","https://openalex.org/W3141373922","https://openalex.org/W4200401311","https://openalex.org/W4205212914","https://openalex.org/W4211133235","https://openalex.org/W4221110986","https://openalex.org/W4235212802","https://openalex.org/W4249847080","https://openalex.org/W4287331155","https://openalex.org/W4319998094","https://openalex.org/W6790607543"],"related_works":["https://openalex.org/W2557545276","https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2401700601","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2593563634","https://openalex.org/W3139794584","https://openalex.org/W2590554196"],"abstract_inverted_index":{"In":[0,89],"this":[1],"work,":[2],"we":[3,92,109,171],"propose":[4,37],"a":[5,75,104,123,129,138,150],"method":[6,148],"for":[7,99],"trajectory":[8,18,78,140],"implementation":[9],"based":[10],"on":[11,149],"theLearning":[12],"by":[13,191],"Demonstrationsapproach":[14],"to":[15,40,45,102,113,154,186],"deal":[16],"with":[17,131,159,165,168],"planning":[19],"issues":[20],"in":[21,70],"upper-limb":[22],"rehabilitation":[23,100],"exoskeletons.":[24],"Currently":[25],"applied":[26],"path-planning":[27],"methods":[28],"use":[29,67],"mathematical":[30],"trajectories":[31,164],"orTeach-and-playapproaches.":[32],"The":[33,72],"former":[34],"do":[35],"not":[36],"human-like":[38],"movements":[39,59],"patients,":[41],"which":[42],"is":[43,183],"crucial":[44],"induce":[46],"correct":[47],"motor":[48],"relearning.":[49],"Moreover,":[50],"they":[51],"often":[52],"differ":[53],"from":[54,125],"therapists'":[55,82],"expectations":[56,83],"of":[57,68,106,122,128],"how":[58],"should":[60],"be":[61],"executed,":[62],"reducing":[63],"the":[64,111,126,142,187,192],"acceptability":[65],"and":[66,87,108,179,182],"exoskeletons":[69],"hospitals.":[71],"latter,":[73],"using":[74],"single":[76],"filtered":[77],"demonstration,":[79],"better":[80,177,184],"meet":[81],"but":[84],"lack":[85],"consistency":[86],"optimization.":[88],"our":[90,134,147,163,174],"approach,":[91],"employedHidden":[93],"Markov":[94],"Models,":[95],"still":[96],"never":[97],"used":[98],"robotics,":[101],"study":[103],"set":[105],"demonstrations":[107],"optimized":[110],"results":[112],"respect":[114],"physiological":[115],"muscular":[116],"activation":[117],"patterns.":[118],"Recorded":[119],"few":[120],"repetitions":[121],"movement":[124],"interaction":[127],"therapist":[130],"an":[132],"exoskeleton,":[133],"machine-learning-based":[135],"algorithm":[136],"returns":[137],"ready-to-use":[139],"representing":[141],"therapist's":[143],"desires.":[144],"We":[145],"tested":[146],"4":[151],"degrees-of-freedom":[152],"exoskeleton":[153],"record":[155],"5":[156,160],"exercises,":[157],"interacting":[158],"therapists.":[161,193],"Comparing":[162],"those":[166],"obtained":[167],"literature":[169],"methods,":[170],"see":[172],"that":[173],"approach":[175],"produces":[176],"kinematic":[178],"human-likeness":[180],"results,":[181],"according":[185],"global":[188],"opinion":[189],"expressed":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
