{"id":"https://openalex.org/W1979852806","doi":"https://doi.org/10.1177/0278364913517728","title":"Task-dependent impedance and implications for upper-limb prosthesis control","display_name":"Task-dependent impedance and implications for upper-limb prosthesis control","publication_year":2014,"publication_date":"2014-02-26","ids":{"openalex":"https://openalex.org/W1979852806","doi":"https://doi.org/10.1177/0278364913517728","mag":"1979852806"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913517728","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913517728","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5066950309","display_name":"Amy Blank","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Amy A. Blank","raw_affiliation_strings":["Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA#TAB#","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Mechanical Engineering, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA#TAB#","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066950309"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":1.6814,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.82730306,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"33","issue":"6","first_page":"827","last_page":"846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","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/T10784","display_name":"Muscle activation and electromyography studies","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9954000115394592,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5943763256072998},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5766951441764832},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5531507730484009},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5215963125228882},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5107603073120117},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.5078273415565491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4978032112121582},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43394821882247925},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3787660300731659},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31126144528388977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3018811345100403},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07503804564476013},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07354879379272461}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5943763256072998},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5766951441764832},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5531507730484009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5215963125228882},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5107603073120117},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5078273415565491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4978032112121582},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43394821882247925},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3787660300731659},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31126144528388977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3018811345100403},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07503804564476013},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07354879379272461}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364913517728","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913517728","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308319","display_name":"Link Foundation","ror":"https://ror.org/02agp0d04"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1503791582","https://openalex.org/W1922715780","https://openalex.org/W1966625029","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1980433231","https://openalex.org/W1995958928","https://openalex.org/W2007100062","https://openalex.org/W2019088203","https://openalex.org/W2030268430","https://openalex.org/W2043465412","https://openalex.org/W2053405790","https://openalex.org/W2064631526","https://openalex.org/W2065483954","https://openalex.org/W2066202893","https://openalex.org/W2068907232","https://openalex.org/W2073476715","https://openalex.org/W2073681111","https://openalex.org/W2077458356","https://openalex.org/W2080487795","https://openalex.org/W2100856460","https://openalex.org/W2105941634","https://openalex.org/W2107325954","https://openalex.org/W2111253117","https://openalex.org/W2111528514","https://openalex.org/W2112474089","https://openalex.org/W2113400476","https://openalex.org/W2115406409","https://openalex.org/W2116803638","https://openalex.org/W2123060523","https://openalex.org/W2129999981","https://openalex.org/W2131440040","https://openalex.org/W2131666656","https://openalex.org/W2133029790","https://openalex.org/W2133041452","https://openalex.org/W2136166284","https://openalex.org/W2142254559","https://openalex.org/W2142639867","https://openalex.org/W2150673051","https://openalex.org/W2151850216","https://openalex.org/W2156455176","https://openalex.org/W2156654664","https://openalex.org/W2164643251","https://openalex.org/W2292439157","https://openalex.org/W2497095191","https://openalex.org/W2527498042","https://openalex.org/W2623660146","https://openalex.org/W2737153679","https://openalex.org/W2901136733","https://openalex.org/W2990651410","https://openalex.org/W4232653271","https://openalex.org/W4285719527","https://openalex.org/W4291302063"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2672507148","https://openalex.org/W1975719792"],"abstract_inverted_index":{"Modern-day":[0],"prosthetic":[1,27],"limbs":[2,28],"are":[3],"currently":[4],"unable":[5],"to":[6,53,130],"imitate":[7],"the":[8,20,41,50,63,99,138,171,201,209,215,226],"versatile":[9],"interaction":[10],"behaviors":[11],"of":[12,22,59,65,68,133,150,173,184,200],"real":[13],"human":[14,69,90,123],"arms.":[15],"Although":[16],"humans":[17],"can":[18,162,169,242],"vary":[19],"impedance":[21,30,46,161,186,240,245],"their":[23],"arms,":[24],"commercially":[25],"available":[26],"have":[29],"properties":[31,47],"that":[32,43,146,159,167,219,241],"cannot":[33],"be":[34],"directly":[35],"controlled":[36],"by":[37],"users.":[38],"We":[39,61,88],"investigate":[40],"hypothesis":[42,74],"user-selectable":[44,239],"prosthesis":[45,79,86,100,119,156,228],"could":[48,212],"improve":[49,163],"user\u2019s":[51],"ability":[52],"interact":[54],"effectively":[55],"with":[56,92,238],"a":[57,66,77,81,85,107,113,134,188],"variety":[58],"environments.":[60],"report":[62],"results":[64,157,179],"series":[67],"subject":[70],"studies":[71,120,193],"exploring":[72],"this":[73],"using":[75],"either":[76],"virtual":[78,118,155,227],"or":[80],"robot":[82,139,177],"arm":[83,140,178],"as":[84],"proxy.":[87],"observed":[89],"performance":[91,124,144,165,182],"different":[93],"stiffness":[94],"and":[95,111,166],"damping":[96,217],"levels":[97,218],"in":[98,102,125,187,196,225],"proxy":[101],"two":[103],"one-degree-of-freedom":[104],"tasks:":[105],"(1)":[106],"force":[108],"minimization":[109],"task":[110],"(2)":[112],"trajectory":[114],"tracking":[115],"task.":[116],"The":[117,154,176],"focus":[121],"on":[122,143],"an":[126],"ideal":[127],"simulated":[128],"system":[129,203,211],"avoid":[131],"limitations":[132,149],"physical":[135,151,189,202,210],"implementation,":[136],"whereas":[137],"study":[141],"focuses":[142],"changes":[145],"result":[147],"from":[148],"robotic":[152,190],"hardware.":[153],"showed":[158,180],"task-dependent":[160,185],"user":[164,249],"users":[168],"evaluate":[170],"effects":[172],"changing":[174],"impedance.":[175],"similar":[181],"benefits":[183],"system.":[191],"These":[192],"identified":[194],"areas":[195],"which":[197],"non-ideal":[198],"characteristics":[199],"limited":[204],"users\u2019":[205],"performance;":[206],"most":[207],"notably,":[208],"not":[213],"achieve":[214,243],"low":[216],"helped":[220],"subjects":[221],"reduce":[222],"contact":[223],"forces":[224],"studies.":[229],"Thus,":[230],"we":[231],"identify":[232],"some":[233],"design":[234],"considerations":[235],"for":[236,247],"prostheses":[237],"useful":[244],"ranges":[246],"improving":[248],"performance.":[250]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
