{"id":"https://openalex.org/W2586244804","doi":"https://doi.org/10.1142/s0219843616500250","title":"Human Gait Prediction with a High DOF Upper Body: A Multi-Objective Optimization of Discomfort and Energy Cost","display_name":"Human Gait Prediction with a High DOF Upper Body: A Multi-Objective Optimization of Discomfort and Energy Cost","publication_year":2017,"publication_date":"2017-02-08","ids":{"openalex":"https://openalex.org/W2586244804","doi":"https://doi.org/10.1142/s0219843616500250","mag":"2586244804"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843616500250","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843616500250","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5045953896","display_name":"Hyun\u2010Jung Kwon","orcid":"https://orcid.org/0000-0001-5688-4181"},"institutions":[{"id":"https://openalex.org/I1319829091","display_name":"Ohio Department of Transportation","ror":"https://ror.org/014303d61","country_code":"US","type":"government","lineage":["https://openalex.org/I1319829091"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyun-Jung Kwon","raw_affiliation_strings":["Transportation Research Center Inc., East Liberty OH 43319, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Transportation Research Center Inc., East Liberty OH 43319, USA","institution_ids":["https://openalex.org/I1319829091"]}]},{"author_position":"middle","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, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Robot and Convergence, Pohang 37666, Republic of Korea","institution_ids":["https://openalex.org/I4210096735"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034688335","display_name":"Yujiang Xiang","orcid":"https://orcid.org/0000-0003-0866-2802"},"institutions":[{"id":"https://openalex.org/I141472210","display_name":"University of Alaska Fairbanks","ror":"https://ror.org/01j7nq853","country_code":"US","type":"education","lineage":["https://openalex.org/I141472210"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yujiang Xiang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks AK 99775, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks AK 99775, USA","institution_ids":["https://openalex.org/I141472210"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034688335"],"corresponding_institution_ids":["https://openalex.org/I141472210"],"apc_list":null,"apc_paid":null,"fwci":0.1312,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.45501388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"14","issue":"01","first_page":"1650025","last_page":"1650025"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983000159263611,"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":0.9983000159263611,"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/T12006","display_name":"Ergonomics and Musculoskeletal Disorders","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9908999800682068,"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/computer-science","display_name":"Computer science","score":0.7138784527778625},{"id":"https://openalex.org/keywords/upper-body","display_name":"Upper body","score":0.6006180644035339},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.46131041646003723},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4583352208137512},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45511654019355774},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4511227011680603},{"id":"https://openalex.org/keywords/human-body-model","display_name":"Human-body model","score":0.45036953687667847},{"id":"https://openalex.org/keywords/shoulders","display_name":"Shoulders","score":0.4414246678352356},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4107922911643982},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39765626192092896},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20541632175445557},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.17453813552856445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17384251952171326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1422412097454071}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7138784527778625},{"id":"https://openalex.org/C2992583082","wikidata":"https://www.wikidata.org/wiki/Q9645","display_name":"Upper body","level":3,"score":0.6006180644035339},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.46131041646003723},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4583352208137512},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45511654019355774},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4511227011680603},{"id":"https://openalex.org/C2781089380","wikidata":"https://www.wikidata.org/wiki/Q5936753","display_name":"Human-body model","level":2,"score":0.45036953687667847},{"id":"https://openalex.org/C2777325788","wikidata":"https://www.wikidata.org/wiki/Q16363","display_name":"Shoulders","level":2,"score":0.4414246678352356},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4107922911643982},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39765626192092896},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20541632175445557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.17453813552856445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17384251952171326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1422412097454071},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C153396756","wikidata":"https://www.wikidata.org/wiki/Q1785966","display_name":"Physical strength","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843616500250","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843616500250","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320338283","display_name":"Office of Experimental Program to Stimulate Competitive Research","ror":"https://ror.org/04k9mqs78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1500527895","https://openalex.org/W1537482913","https://openalex.org/W1595828254","https://openalex.org/W1963659584","https://openalex.org/W1980505543","https://openalex.org/W1982160632","https://openalex.org/W1987998156","https://openalex.org/W1995083389","https://openalex.org/W2009135422","https://openalex.org/W2013490012","https://openalex.org/W2014536796","https://openalex.org/W2015946226","https://openalex.org/W2022144657","https://openalex.org/W2032047589","https://openalex.org/W2032257768","https://openalex.org/W2033217172","https://openalex.org/W2036407851","https://openalex.org/W2061983716","https://openalex.org/W2080017937","https://openalex.org/W2081702195","https://openalex.org/W2083905873","https://openalex.org/W2093114104","https://openalex.org/W2108298098","https://openalex.org/W2110117866","https://openalex.org/W2110612452","https://openalex.org/W2116531629","https://openalex.org/W2123789997","https://openalex.org/W2128698892","https://openalex.org/W2160534535","https://openalex.org/W2167421945","https://openalex.org/W2170258802","https://openalex.org/W2170949734","https://openalex.org/W2184048690","https://openalex.org/W2334502289","https://openalex.org/W2469846248","https://openalex.org/W4206037775"],"related_works":["https://openalex.org/W2097168487","https://openalex.org/W2069513325","https://openalex.org/W2097970179","https://openalex.org/W2791520673","https://openalex.org/W1144894844","https://openalex.org/W1914928029","https://openalex.org/W569870253","https://openalex.org/W2964868268","https://openalex.org/W2929434394","https://openalex.org/W835046137"],"abstract_inverted_index":{"To":[0,126],"predict":[1,177],"the":[2,16,29,75,85,88,119,122,128,149],"3D":[3,153],"walking":[4,138,163],"pattern":[5],"of":[6,28,32,34,43,87,90,92,121,130,189],"a":[7,9,49,54,107,132,152,157,171,181],"human,":[8],"detailed":[10],"upper":[11,57,135,160,184],"body":[12,39,58,161,185],"model":[13,59,155],"that":[14],"includes":[15],"spine,":[17],"shoulders,":[18],"and":[19,74,148,200],"neck":[20],"must":[21],"be":[22],"made,":[23],"which":[24],"is":[25,82,104,118,139,170],"challenging":[26],"because":[27],"coupling":[30],"relations":[31],"degrees":[33],"freedom":[35],"(DOF)":[36],"in":[37],"these":[38],"sections.":[40],"The":[41,79,100,116,167],"objective":[42],"this":[44],"study":[45],"was":[46,67,164],"to":[47,176],"develop":[48],"discomfort":[50,76,80,150],"function":[51,77,81],"for":[52,162],"including":[53,131],"high":[55,133,158,182],"DOF":[56,134,159,183],"during":[60],"walking.":[61],"A":[62],"multi-objective":[63],"optimization":[64],"(MOO)":[65],"method":[66],"formulated":[68],"by":[69,195],"minimizing":[70,145],"dynamic":[71],"effort":[72],"(DE)":[73],"simultaneously.":[78],"defined":[83,105],"as":[84,106,141],"sum":[86,120],"squares":[89],"deviation":[91],"joint":[93,123],"angles":[94],"from":[95],"their":[96],"neutral":[97,101],"angle":[98,102],"positions.":[99],"position":[103],"relaxed":[108],"human":[109,173,178],"posture":[110],"without":[111],"actively":[112],"applied":[113],"external":[114],"forces.":[115],"DE":[117,147],"torque":[124],"squared.":[125],"illustrate":[127],"capability":[129],"body,":[136],"backward":[137,197],"used":[140],"an":[142],"example.":[143],"By":[144],"both":[146],"function,":[151],"whole-body":[154],"with":[156,186],"simulated":[165],"successfully.":[166],"proposed":[168],"MOO":[169],"promising":[172],"performance":[174],"measure":[175],"motion":[179],"using":[180],"full":[187],"range":[188],"motion.":[190],"This":[191],"has":[192],"been":[193],"demonstrated":[194],"simulating":[196],"walking,":[198],"lifting,":[199],"ingress":[201],"motions.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}