{"id":"https://openalex.org/W7150955284","doi":"https://doi.org/10.3390/robotics15040076","title":"A Comparative Study of a Real-Time Ankle Mobility Monitoring Wearable System","display_name":"A Comparative Study of a Real-Time Ankle Mobility Monitoring Wearable System","publication_year":2026,"publication_date":"2026-04-04","ids":{"openalex":"https://openalex.org/W7150955284","doi":"https://doi.org/10.3390/robotics15040076"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15040076","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15040076","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics15040076","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068668903","display_name":"Giovanni Mastrangelo","orcid":"https://orcid.org/0000-0002-9922-8384"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giovanni Mastrangelo","raw_affiliation_strings":["Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy"],"raw_orcid":"https://orcid.org/0009-0002-0787-3448","affiliations":[{"raw_affiliation_string":"Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126797398","display_name":"Betsy Dayana Marcela Chaparro Rico","orcid":null},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Betsy Dayana Marcela Chaparro Rico","raw_affiliation_strings":["Intelligent Robotics Group, Department of Computer Science, Faculty of Science and Engineering, Swansea University, Swansea SA1 8EN, UK"],"raw_orcid":"https://orcid.org/0000-0002-6874-2508","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Group, Department of Computer Science, Faculty of Science and Engineering, Swansea University, Swansea SA1 8EN, UK","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034656746","display_name":"Matteo Russo","orcid":"https://orcid.org/0000-0002-8825-8983"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Russo","raw_affiliation_strings":["Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8825-8983","affiliations":[{"raw_affiliation_string":"Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133000893","display_name":"Marco Ceccarelli","orcid":null},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ceccarelli","raw_affiliation_strings":["Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9388-4391","affiliations":[{"raw_affiliation_string":"Laboratory of Robot Mechatronics (LARM<sup>2</sup>), Department of Industrial Engineering, University of Rome \u201cTor Vergata\u201d, 00133 Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045324679","display_name":"Daniele Cafolla","orcid":"https://orcid.org/0000-0002-5602-1519"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniele Cafolla","raw_affiliation_strings":["Intelligent Robotics Group, Department of Computer Science, Faculty of Science and Engineering, Swansea University, Swansea SA1 8EN, UK"],"raw_orcid":"https://orcid.org/0000-0002-5602-1519","affiliations":[{"raw_affiliation_string":"Intelligent Robotics Group, Department of Computer Science, Faculty of Science and Engineering, Swansea University, Swansea SA1 8EN, UK","institution_ids":["https://openalex.org/I39586589"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068668903"],"corresponding_institution_ids":["https://openalex.org/I116067653"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":2.7937,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89553398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"15","issue":"4","first_page":"76","last_page":"76"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.5188999772071838,"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":0.5188999772071838,"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":0.17399999499320984,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.12430000305175781,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.7233999967575073},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6097999811172485},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5676000118255615},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.5580000281333923},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.545199990272522},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5171999931335449},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.49889999628067017},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.41440001130104065},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.36070001125335693}],"concepts":[{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.7233999967575073},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6097999811172485},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5676000118255615},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.5580000281333923},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.545199990272522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5253000259399414},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5171999931335449},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.49889999628067017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48249998688697815},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.460099995136261},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4244000017642975},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.41440001130104065},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.35569998621940613},{"id":"https://openalex.org/C37649242","wikidata":"https://www.wikidata.org/wiki/Q932268","display_name":"System of measurement","level":2,"score":0.3434999883174896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3345000147819519},{"id":"https://openalex.org/C60465272","wikidata":"https://www.wikidata.org/wiki/Q494478","display_name":"Range of motion","level":2,"score":0.3292999863624573},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C2780762811","wikidata":"https://www.wikidata.org/wiki/Q1784941","display_name":"Cosine similarity","level":3,"score":0.289900004863739},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C293773","wikidata":"https://www.wikidata.org/wiki/Q7608015","display_name":"Step detection","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C2776902269","wikidata":"https://www.wikidata.org/wiki/Q5165493","display_name":"Continuous monitoring","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.25519999861717224},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15040076","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15040076","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:791edd7cf1d5411d9f70e1e471cf9356","is_oa":true,"landing_page_url":"https://doaj.org/article/791edd7cf1d5411d9f70e1e471cf9356","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 4, p 76 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15040076","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15040076","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7682042717933655,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1782270568","https://openalex.org/W1840637580","https://openalex.org/W2002204150","https://openalex.org/W2025383264","https://openalex.org/W2043368211","https://openalex.org/W2067007369","https://openalex.org/W2081254081","https://openalex.org/W2102548030","https://openalex.org/W2131368080","https://openalex.org/W2150893603","https://openalex.org/W2158764002","https://openalex.org/W2343715419","https://openalex.org/W2413248676","https://openalex.org/W2438600268","https://openalex.org/W2548954486","https://openalex.org/W2796730159","https://openalex.org/W2800895734","https://openalex.org/W2829660389","https://openalex.org/W2887377902","https://openalex.org/W2911767333","https://openalex.org/W2913601164","https://openalex.org/W2914783611","https://openalex.org/W2962730651","https://openalex.org/W2965604869","https://openalex.org/W2994954955","https://openalex.org/W3001585362","https://openalex.org/W3005934766","https://openalex.org/W3111215764","https://openalex.org/W3125313783","https://openalex.org/W3130316256","https://openalex.org/W3154625726","https://openalex.org/W3155494946","https://openalex.org/W3168789724","https://openalex.org/W3170721375","https://openalex.org/W3176709456","https://openalex.org/W4211003818","https://openalex.org/W4213276639","https://openalex.org/W4298204516","https://openalex.org/W4385698136","https://openalex.org/W4390057166","https://openalex.org/W4394683802","https://openalex.org/W4399073931","https://openalex.org/W4402675559","https://openalex.org/W4404079858","https://openalex.org/W4404723413","https://openalex.org/W4405850055","https://openalex.org/W4407392625","https://openalex.org/W4408376597","https://openalex.org/W4408770679","https://openalex.org/W4409683549","https://openalex.org/W4412154989","https://openalex.org/W4412172559","https://openalex.org/W4415141879"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,30,37,65,136,155],"low-cost,":[4],"lightweight":[5],"wearable":[6,173],"sensing":[7,150],"module":[8],"for":[9],"real-time":[10],"multi-degree-of-freedom":[11],"motion":[12,68,116],"analysis,":[13],"which":[14],"is":[15,27,152],"validated":[16],"using":[17],"ankle":[18,147],"movements":[19,97],"from":[20],"representative":[22],"case":[23],"study.":[24],"The":[25,126],"system":[26,134],"based":[28],"on":[29,105],"compact":[31],"inertial":[32],"measurement":[33,144],"unit":[34],"integrated":[35],"into":[36,171],"custom-made":[38],"enclosure":[39],"and":[40,60,85,98,115,139,160,168],"employs":[41],"Kalman":[42],"filter-based":[43],"sensor":[44],"fusion":[45],"to":[46,142,154],"estimate":[47],"three-dimensional":[48],"joint":[49],"orientation.":[50],"An":[51],"experimental":[52],"campaign":[53],"involving":[54],"sixteen":[55],"healthy":[56],"participants":[57],"was":[58],"conducted,":[59],"measurements":[61],"were":[62,76],"compared":[63],"against":[64],"gold-standard":[66],"optical":[67],"capture":[69,117],"system,":[70],"Optitrack":[71],"V120":[72],"Trio.":[73],"Ankle":[74],"kinematics":[75],"analysed":[77],"across":[78,95],"all":[79,96],"anatomical":[80],"planes,":[81],"including":[82,89],"dorsiflexion/plantarflexion,":[83],"inversion/eversion,":[84],"adduction/abduction.":[86],"Quantitative":[87],"metrics,":[88],"cosine":[90],"similarity":[91],"consistently":[92],"above":[93],"0.98":[94],"root":[99],"mean":[100],"square":[101],"error":[102],"within":[103,122],"4\u00b0":[104],"average,":[106],"demonstrate":[107],"strong":[108],"agreement":[109],"between":[110],"the":[111,129,132,149],"angular":[112],"measuring":[113],"device":[114],"data,":[118],"with":[119],"errors":[120],"remaining":[121],"clinically":[123],"acceptable":[124],"limits.":[125],"results":[127],"confirm":[128],"feasibility":[130],"of":[131,158],"proposed":[133],"as":[135],"reliable,":[137],"portable,":[138],"affordable":[140],"alternative":[141],"laboratory-based":[143],"technologies.":[145],"Beyond":[146],"assessment,":[148],"approach":[151],"applicable":[153],"wide":[156],"range":[157],"motion-assistive":[159],"rehabilitation":[161],"systems,":[162],"supporting":[163],"continuous":[164],"monitoring,":[165],"personalised":[166],"therapy,":[167],"future":[169],"integration":[170],"intelligent":[172],"devices.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-13T07:04:57.449891","created_date":"2026-04-07T00:00:00"}
