{"id":"https://openalex.org/W2001925506","doi":"https://doi.org/10.1155/2014/245896","title":"Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point","display_name":"Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2001925506","doi":"https://doi.org/10.1155/2014/245896","mag":"2001925506"},"language":"en","primary_location":{"id":"doi:10.1155/2014/245896","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/245896","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/245896.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2014/245896.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066797434","display_name":"Alaa Abdulrahman","orcid":"https://orcid.org/0000-0002-4361-7292"},"institutions":[{"id":"https://openalex.org/I64952554","display_name":"University of Sulaimani","ror":"https://ror.org/00saanr69","country_code":"IQ","type":"education","lineage":["https://openalex.org/I64952554"]}],"countries":["IQ"],"is_corresponding":true,"raw_author_name":"Alaa Abdulrahman","raw_affiliation_strings":["Department of Electrical Engineering, University of Sulaimani, Sulaimani, Iraq","Department of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USA"],"raw_orcid":"https://orcid.org/0000-0002-4361-7292","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Sulaimani, Sulaimani, Iraq","institution_ids":["https://openalex.org/I64952554"]},{"raw_affiliation_string":"Department of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068395409","display_name":"Kamran Iqbal","orcid":"https://orcid.org/0000-0001-8375-290X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kamran Iqbal","raw_affiliation_strings":["Department of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109083409","display_name":"Gannon White","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gannon White","raw_affiliation_strings":["Department of Health, Human Performance, and Sport Management, College of Science, UALR, AR 72204, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Health, Human Performance, and Sport Management, College of Science, UALR, AR 72204, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066797434"],"corresponding_institution_ids":["https://openalex.org/I64952554"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07426587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2014","issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955000281333923,"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":0.7345154285430908},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.646224319934845},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6182684898376465},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5852097272872925},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5827048420906067},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5707888603210449},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5135347843170166},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48830461502075195},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4779805541038513},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.4242936372756958},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3681454658508301},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20968139171600342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1545148491859436},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15119758248329163},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1476450264453888},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11885210871696472},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10974204540252686},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08339038491249084}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7345154285430908},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.646224319934845},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6182684898376465},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5852097272872925},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5827048420906067},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5707888603210449},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5135347843170166},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48830461502075195},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4779805541038513},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.4242936372756958},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3681454658508301},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20968139171600342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1545148491859436},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15119758248329163},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1476450264453888},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11885210871696472},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10974204540252686},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08339038491249084},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2014/245896","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/245896","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/245896.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dbc142f477fd4c048d75ff2078a07158","is_oa":true,"landing_page_url":"https://doaj.org/article/dbc142f477fd4c048d75ff2078a07158","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2014 (2014)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2014/245896","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/245896","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/245896.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2001925506.pdf","grobid_xml":"https://content.openalex.org/works/W2001925506.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W27773078","https://openalex.org/W611343071","https://openalex.org/W1514056936","https://openalex.org/W1552433757","https://openalex.org/W1559393815","https://openalex.org/W1587089099","https://openalex.org/W1601055277","https://openalex.org/W1874450194","https://openalex.org/W1972678507","https://openalex.org/W1974986187","https://openalex.org/W1996117239","https://openalex.org/W1997771792","https://openalex.org/W1999384808","https://openalex.org/W2016102421","https://openalex.org/W2018547972","https://openalex.org/W2020496780","https://openalex.org/W2024449193","https://openalex.org/W2027192020","https://openalex.org/W2031805060","https://openalex.org/W2033679781","https://openalex.org/W2049223406","https://openalex.org/W2057304390","https://openalex.org/W2093188224","https://openalex.org/W2098787727","https://openalex.org/W2109737786","https://openalex.org/W2129224530","https://openalex.org/W2130281033","https://openalex.org/W2145961135","https://openalex.org/W2149023746","https://openalex.org/W2156018100","https://openalex.org/W2161427949","https://openalex.org/W2161562784","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W12034839","https://openalex.org/W2010009304","https://openalex.org/W2191987460","https://openalex.org/W2318017964","https://openalex.org/W3021694725","https://openalex.org/W2639612090","https://openalex.org/W2567375923","https://openalex.org/W1996851061","https://openalex.org/W2112389631","https://openalex.org/W2103107162"],"abstract_inverted_index":{"Physiologically":[0],"and":[1,126,138],"biomechanically,":[2],"the":[3,23,39,47,83,87,95,99,101,104,109,115,128,144,172,180,185],"human":[4,67],"body":[5,68],"represents":[6],"a":[7,25,64,148,158],"complicated":[8],"system":[9],"with":[10,71,154,164],"an":[11],"abundance":[12],"of":[13,15,22,33,49,98,103,130,174,187],"degrees":[14],"freedom":[16],"(DOF).":[17],"When":[18],"developing":[19],"mathematical":[20],"representations":[21],"body,":[24],"researcher":[26],"has":[27],"to":[28,36,82,85,94,124],"decide":[29],"on":[30,133],"how":[31],"many":[32],"those":[34],"DOF":[35,73],"include":[37],"in":[38,168,171,190],"model.":[40],"Though":[41],"accuracy":[42],"can":[43],"be":[44,58],"enhanced":[45],"at":[46],"cost":[48],"complexity":[50],"by":[51,143],"including":[52],"more":[53,159],"DOF,":[54],"their":[55],"necessity":[56],"must":[57],"rigorously":[59],"examined.":[60],"In":[61],"this":[62],"study":[63],"planar":[65,145,188],"seven-segment":[66],"walking":[69],"model":[70,84,146,163],"single":[72],"joints":[74],"was":[75,80,106],"developed.":[76],"A":[77],"reference":[78,110],"point":[79],"added":[81],"track":[86],"body\u2019s":[88],"global":[89],"position":[90],"while":[91],"moving.":[92],"Due":[93],"kinematic":[96],"instability":[97],"pelvis,":[100],"top":[102],"head":[105],"selected":[107],"as":[108],"point,":[111],"which":[112,166],"also":[113],"assimilates":[114],"vestibular":[116],"sensor":[117],"position.":[118],"Inverse":[119],"dynamics":[120],"methods":[121],"were":[122,152],"used":[123],"formulate":[125],"solve":[127],"equations":[129],"motion":[131],"based":[132],"Newton-Euler":[134],"formulae.":[135],"The":[136,176],"torques":[137],"ground":[139],"reaction":[140],"forces":[141],"generated":[142],"during":[147],"regular":[149],"gait":[150,191],"cycle":[151],"compared":[153],"similar":[155],"results":[156],"from":[157],"complex":[160],"three-dimensional":[161],"OpenSim":[162],"muscles,":[165],"resulted":[167],"correlation":[169],"errors":[170],"range":[173],"0.9\u20130.98.":[175],"close":[177],"comparison":[178],"between":[179],"two":[181],"torque":[182],"outputs":[183],"supports":[184],"use":[186],"models":[189],"studies.":[192]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
