{"id":"https://openalex.org/W4225342162","doi":"https://doi.org/10.1109/robio54168.2021.9739447","title":"Stair and Ramp Recognition for Powered Lower Limb Exoskeletons","display_name":"Stair and Ramp Recognition for Powered Lower Limb Exoskeletons","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225342162","doi":"https://doi.org/10.1109/robio54168.2021.9739447"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739447","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5030015360","display_name":"Konstantin Struebig","orcid":"https://orcid.org/0000-0003-0900-7260"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Konstantin Struebig","raw_affiliation_strings":["Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051636675","display_name":"Niklas Ganter","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niklas Ganter","raw_affiliation_strings":["Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087327274","display_name":"Leon Freiberg","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Leon Freiberg","raw_affiliation_strings":["Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005245664","display_name":"Tim C. Lueth","orcid":"https://orcid.org/0000-0001-8949-5764"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim C. Lueth","raw_affiliation_strings":["Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Micro Technology and Medical Device Technology,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Micro Technology and Medical Device Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030015360"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.5411,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.83112583,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1270","last_page":"1276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.970300018787384,"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":0.9695000052452087,"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":0.8399497270584106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6473119258880615},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6044691205024719},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5661255717277527},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5614813566207886},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5401623845100403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5280051231384277},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4537518322467804},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.4532339572906494},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44009676575660706},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4161801338195801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2554020583629608}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8399497270584106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6473119258880615},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6044691205024719},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5661255717277527},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5614813566207886},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5401623845100403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5280051231384277},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4537518322467804},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.4532339572906494},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44009676575660706},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4161801338195801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2554020583629608},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739447","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1914429872","https://openalex.org/W1967516228","https://openalex.org/W2085261163","https://openalex.org/W2106701171","https://openalex.org/W2142114107","https://openalex.org/W2163003390","https://openalex.org/W2343715419","https://openalex.org/W2770201929","https://openalex.org/W2861557280","https://openalex.org/W2891963968","https://openalex.org/W2907702312","https://openalex.org/W2910656635","https://openalex.org/W2913483530","https://openalex.org/W6746266979"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W2318265355","https://openalex.org/W1976557033","https://openalex.org/W1486724195","https://openalex.org/W560737017","https://openalex.org/W4200464353","https://openalex.org/W2387566434","https://openalex.org/W2592227335","https://openalex.org/W1515848118","https://openalex.org/W4245467091"],"abstract_inverted_index":{"Robotic":[0],"lower":[1],"limb":[2],"exoskeletons":[3],"allow":[4],"paraplegics":[5],"to":[6,59,63,72,100,143,204,241],"stand":[7],"up,":[8],"walk,":[9],"and":[10,15,37,79,86,123,125,189,227],"overcome":[11],"obstacles":[12],"like":[13,83],"stairs":[14,124],"ramps.":[16],"The":[17,41],"selection":[18],"of":[19,35,106,109,134,148,159,166,181,209,223],"the":[20,29,33,57,64,69,74,107,110,113,120,131,135,145,149,164,179,182,206,216],"required":[21],"movement":[22],"pattern":[23],"is":[24,47,231],"generally":[25],"done":[26],"manually":[27],"by":[28,235],"user,":[30],"which":[31,55,177],"reduces":[32],"ease":[34],"use":[36,207],"prohibits":[38],"dynamic":[39],"transitions.":[40],"proposed":[42],"solution":[43],"for":[44,155,201],"this":[45],"problem":[46],"a":[48,102,171,210],"machine":[49],"vision":[50],"based":[51,129,185],"obstacle":[52],"recognition":[53],"system,":[54],"allows":[56],"exoskeleton":[58],"adapt":[60],"its":[61,77,224],"movements":[62],"environment.":[65],"To":[66,162],"achieve":[67],"this,":[68],"system":[70,90,193,217],"needs":[71],"categorize":[73],"obstacle,":[75,150],"determine":[76],"distance,":[78],"measure":[80],"physical":[81],"characteristics":[82,147],"step":[84],"height":[85],"ramp":[87],"slope.The":[88],"developed":[89],"uses":[91],"an":[92,98,160],"infrared":[93],"stereo":[94],"camera":[95],"paired":[96],"with":[97],"IMU":[99],"capture":[101],"3D":[103],"point":[104,121],"cloud":[105,122],"path":[108],"exoskeleton.":[111,161,212],"Using":[112],"RANSAC":[114],"algorithm,":[115],"planes":[116],"are":[117,127,140],"segmented":[118],"from":[119],"ramps":[126],"identified":[128],"on":[130,186,196],"geometric":[132],"constellation":[133],"extracted":[136],"planes.":[137],"These":[138],"surfaces":[139],"then":[141],"used":[142],"calculate":[144],"quantitative":[146],"that":[151],"would":[152],"be":[153],"needed":[154],"adaptive":[156],"trajectory":[157],"planning":[158],"minimize":[163],"probability":[165],"wrong":[167,191],"classifications":[168],"or":[169],"measurements,":[170],"higher":[172],"level":[173],"evaluation":[174],"was":[175,194],"integrated,":[176],"rates":[178],"quality":[180],"gathered":[183],"data":[184],"redundant":[187],"analyses":[188],"suppresses":[190],"results.The":[192],"implemented":[195],"low":[197],"power":[198],"hardware":[199,242],"intended":[200],"mobile":[202,211],"applications":[203],"match":[205],"case":[208],"In":[213],"first":[214],"experiments,":[215],"showed":[218],"good":[219],"results":[220],"in":[221],"terms":[222],"detection":[225],"rate":[226],"measurement":[228],"accuracy,":[229],"but":[230],"currently":[232],"held":[233],"back":[234],"long":[236],"process":[237],"run":[238],"times":[239],"due":[240],"limitations.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}