{"id":"https://openalex.org/W2982259140","doi":"https://doi.org/10.3390/robotics8040091","title":"Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation","display_name":"Control of the Sit-To-Stand Transfer of a Biped Robotic Device for Postural Rehabilitation","publication_year":2019,"publication_date":"2019-10-23","ids":{"openalex":"https://openalex.org/W2982259140","doi":"https://doi.org/10.3390/robotics8040091","mag":"2982259140"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8040091","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040091","pdf_url":"https://www.mdpi.com/2218-6581/8/4/91/pdf?version=1572402583","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://www.mdpi.com/2218-6581/8/4/91/pdf?version=1572402583","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019678916","display_name":"Giuseppe Menga","orcid":"https://orcid.org/0000-0003-0735-0858"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Menga","raw_affiliation_strings":["Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037663155","display_name":"Marco Ghirardi","orcid":"https://orcid.org/0000-0002-4222-8375"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ghirardi","raw_affiliation_strings":["Department of Management and Production Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Management and Production Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5019678916"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.6587,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.64420329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":"4","first_page":"91","last_page":"91"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9940000176429749,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9883000254631042,"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/exoskeleton","display_name":"Exoskeleton","score":0.8974130153656006},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.6411466002464294},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6173720359802246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46815207600593567},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4663594961166382},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4498370289802551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43939000368118286},{"id":"https://openalex.org/keywords/sitting","display_name":"Sitting","score":0.4189963638782501},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34283921122550964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23941636085510254},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.1998794972896576},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14959880709648132}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8974130153656006},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.6411466002464294},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6173720359802246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46815207600593567},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4663594961166382},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4498370289802551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43939000368118286},{"id":"https://openalex.org/C2776370487","wikidata":"https://www.wikidata.org/wiki/Q1144593","display_name":"Sitting","level":2,"score":0.4189963638782501},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34283921122550964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23941636085510254},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.1998794972896576},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14959880709648132},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics8040091","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040091","pdf_url":"https://www.mdpi.com/2218-6581/8/4/91/pdf?version=1572402583","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:f0160283ab7e45139be474e06131bb26","is_oa":true,"landing_page_url":"https://doaj.org/article/f0160283ab7e45139be474e06131bb26","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 8, Iss 4, p 91 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/4/91/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8040091","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics8040091","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040091","pdf_url":"https://www.mdpi.com/2218-6581/8/4/91/pdf?version=1572402583","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":0.5199999809265137,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"},{"id":"https://openalex.org/F4320326081","display_name":"Regione Piemonte","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982259140.pdf","grobid_xml":"https://content.openalex.org/works/W2982259140.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W154035650","https://openalex.org/W1557098279","https://openalex.org/W1967365365","https://openalex.org/W2031009621","https://openalex.org/W2052625252","https://openalex.org/W2110612452","https://openalex.org/W2112351859","https://openalex.org/W2113518113","https://openalex.org/W2115334118","https://openalex.org/W2119703384","https://openalex.org/W2133859362","https://openalex.org/W2134842458","https://openalex.org/W2147582248","https://openalex.org/W2154128597","https://openalex.org/W2163208146","https://openalex.org/W2184527641","https://openalex.org/W2303539570","https://openalex.org/W2304160655","https://openalex.org/W2734585497","https://openalex.org/W2807543877","https://openalex.org/W2982032062","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W2753647732","https://openalex.org/W4303574780","https://openalex.org/W2590554196"],"abstract_inverted_index":{"This":[0],"paper":[1,133,169],"deals":[2],"with":[3,73,96,101,117,161],"the":[4,7,36,39,82,87,90,102,106,112,115,138,143,158,168,171,174,187,193,204,208,218,229,234,237,246,258,263,279],"control":[5,29,148,186,206,247],"of":[6,10,34,42,46,84,142,173,176,236,239,278],"sit-to-stand":[8],"transfer":[9,45],"a":[11,21,47,52,69,92,97,177,214],"biped":[12,18,66],"robotic":[13],"device":[14],"(either":[15],"an":[16,55,59,74,129,146,150,154,162],"autonomous":[17,151],"robot":[19],"or":[20,270],"haptic":[22,178],"assistive":[23],"exoskeleton":[24,179,224],"for":[25,149,157,180],"postural":[26,264],"rehabilitation).":[27],"The":[28,44,132,195,223],"has":[30],"been":[31],"synthesized,":[32],"instead":[33],"considering":[35],"physiology,":[37],"analyzing":[38],"basic":[40],"laws":[41],"dynamics.":[43],"human":[48],"from":[49,114,192,248],"sitting":[50],"on":[51,272],"chair":[53,116],"to":[54,185,216,227,243,253,274],"erect":[56,130],"posture":[57],"is":[58,94,183,221,225],"interesting":[60],"case":[61],"study,":[62],"because":[63],"it":[64,125],"treats":[65],"balance":[67],"in":[68],"two-phase":[70],"dynamic":[71],"setting,":[72],"external":[75],"force":[76],"disturbance":[77],"(the":[78],"chair\u2013pelvis":[79],"contact)":[80],"affecting":[81],"center":[83],"pressure":[85],"under":[86],"feet.":[88],"At":[89],"beginning,":[91],"body":[93],"sitting,":[95],"fixed":[98],"pelvis":[99],"moving":[100],"hips":[103],"going":[104],"toward":[105],"supporting":[107],"feet":[108],"and,":[109],"contemporaneously,":[110],"releasing":[111],"load":[113],"ankles":[118],"and":[119,127,200,207,213,261,266],"knee":[120],"torques.":[121],"Then,":[122,232],"after":[123],"lift-off,":[124],"reaches":[126],"maintains":[128],"posture.":[131],"objectives":[134],"are":[135,211],"threefold:":[136],"identifying":[137],"major":[139],"dynamical":[140],"determinants":[141],"exercise;":[144],"sythesizing":[145],"automatic":[147,205],"device;":[152],"proposing":[153],"innovative":[155],"approach":[156],"rehabilitation":[159],"process":[160],"exoskeleton.":[163],"For":[164],"this":[165],"last":[166],"objective,":[167],"extends":[170],"idea":[172],"authors":[175],"rehabilitation.":[181],"It":[182],"driven":[184,256],"joints":[188,267],"by":[189,257],"electromiographical":[190],"signals":[191],"patient.":[194],"two":[196,219,280],"spaces,":[197],"cartesian":[198],"(world)":[199],"joint,":[201],"where,":[202],"respectively,":[203],"patient":[209],"operate,":[210],"considered":[212],"technique":[215],"blend":[217],"actions":[220,281],"proposed.":[222],"programed":[226],"perform":[228],"exercise":[230],"autonomously.":[231],"during":[233],"evolution":[235],"phases":[238],"rehabilitation,":[240],"we":[241],"postulated":[242],"seamlessly":[244],"move":[245],"one":[249,277],"space":[250],"(purely":[251],"autonomous)":[252],"another":[254],"(completely":[255],"patient),":[259],"choosing":[260],"keeping":[262],"tasks":[265],"(heaps,":[268],"knees,":[269],"ankles)":[271],"which":[273],"apply":[275],"each":[276],"without":[282],"interaction.":[283]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}