{"id":"https://openalex.org/W3130381353","doi":"https://doi.org/10.1109/iros45743.2020.9341323","title":"Dynamic Assistance for Human Balancing with Inertia of a Wearable Robotic Appendage","display_name":"Dynamic Assistance for Human Balancing with Inertia of a Wearable Robotic Appendage","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130381353","doi":"https://doi.org/10.1109/iros45743.2020.9341323","mag":"3130381353"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5057062481","display_name":"Azumi Maekawa","orcid":"https://orcid.org/0009-0007-4087-6292"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Azumi Maekawa","raw_affiliation_strings":["the University of Tokyo,Graduate School of Engineering,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"the University of Tokyo,Graduate School of Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005645588","display_name":"Kei Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I165953009","display_name":"Tokyo University of the Arts","ror":"https://ror.org/00y809n33","country_code":"JP","type":"education","lineage":["https://openalex.org/I165953009"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Kawamura","raw_affiliation_strings":["the University of Tokyo,Graduate School of Arts and Sciences,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"the University of Tokyo,Graduate School of Arts and Sciences,Tokyo,Japan","institution_ids":["https://openalex.org/I165953009","https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001678024","display_name":"Masahiko \u0130nami","orcid":"https://orcid.org/0000-0002-8652-0730"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiko Inami","raw_affiliation_strings":["the University of Tokyo,Research Center for Advanced Science and Technology,Meguro-ku Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"the University of Tokyo,Research Center for Advanced Science and Technology,Meguro-ku Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.427,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.92608,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9997,"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":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9997,"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":"Lower Limb Exoskeleton Robotics","score":0.9993,"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":"Gait Analysis and Fall Prevention in Elderly","score":0.997,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/appendage","display_name":"Appendage","score":0.7133261},{"id":"https://openalex.org/keywords/balance-control","display_name":"Balance Control","score":0.520849},{"id":"https://openalex.org/keywords/postural-stability","display_name":"Postural Stability","score":0.513303},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"Dynamic Walking","score":0.511166}],"concepts":[{"id":"https://openalex.org/C41451933","wikidata":"https://www.wikidata.org/wiki/Q13415392","display_name":"Appendage","level":2,"score":0.7133261},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6860973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56120914},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.52620393},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5247947},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5019629},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46765178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4579782},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.41919255},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39146432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32301295},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.25518775},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09898105},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.095721126},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","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":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, justice, and strong institutions","score":0.6,"id":"https://metadata.un.org/sdg/16"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W139317720","https://openalex.org/W1530083085","https://openalex.org/W1991811360","https://openalex.org/W2005350361","https://openalex.org/W2008389204","https://openalex.org/W2012021292","https://openalex.org/W2040075737","https://openalex.org/W2043144176","https://openalex.org/W2054442677","https://openalex.org/W2057682240","https://openalex.org/W2084772888","https://openalex.org/W2093941824","https://openalex.org/W2107665325","https://openalex.org/W2112017316","https://openalex.org/W2121544865","https://openalex.org/W2155416771","https://openalex.org/W2159810546","https://openalex.org/W2313937152","https://openalex.org/W2346935508","https://openalex.org/W2734430656","https://openalex.org/W2921465075","https://openalex.org/W3098205130","https://openalex.org/W3139887624"],"related_works":["https://openalex.org/W4312935962","https://openalex.org/W2905853915","https://openalex.org/W2359087469","https://openalex.org/W2187544349","https://openalex.org/W2162363184","https://openalex.org/W2046682228","https://openalex.org/W1991509461","https://openalex.org/W1988042083","https://openalex.org/W1979938415","https://openalex.org/W1489809049"],"abstract_inverted_index":{"A":[0],"reduced":[1],"balance":[2,54,113],"ability":[3,114],"can":[4,28],"lead":[5],"to":[6,119,122],"falls":[7],"and":[8,18,79,115],"critical":[9],"injuries.":[10],"To":[11,88],"prevent":[12],"falls,":[13],"humans":[14],"use":[15],"reaction":[16],"forces":[17],"torques":[19],"generated":[20],"by":[21,39],"swinging":[22],"their":[23],"arms.":[24],"In":[25],"animals,":[26],"we":[27,42,66,96,108],"find":[29],"that":[30,46,72],"a":[31,48,52,62,68],"similar":[32],"strategy":[33],"is":[34],"taken":[35],"using":[36],"tails.":[37],"Inspired":[38],"these":[40],"strategies,":[41],"propose":[43],"an":[44,98],"approach":[45],"utilizes":[47],"robotic":[49,70,106],"appendage":[50,71,107,134],"as":[51],"human":[53,102],"supporter":[55],"without":[56],"assistance":[57],"from":[58],"environmental":[59],"contact.":[60],"As":[61],"proof":[63],"of":[64,77,85,92],"concept,":[65],"developed":[67,109],"wearable":[69],"has":[73],"one":[74],"actuated":[75],"degree":[76],"freedom":[78],"rotates":[80],"around":[81],"the":[82,86,90,105,111,117,132],"sagittal":[83],"axis":[84],"wearer.":[87],"validate":[89],"feasibility":[91],"our":[93],"proposed":[94],"approach,":[95],"conducted":[97],"evaluation":[99],"experiment":[100],"with":[101],"subjects.":[103],"Controlling":[104],"improved":[110],"subjects'":[112],"enabled":[116],"subject":[118],"withstand":[120],"up":[121],"22.8":[123],"%":[124],"larger":[125],"impulse":[126],"disturbances":[127],"on":[128],"average":[129],"than":[130],"in":[131],"fixed":[133],"condition.":[135]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3130381353","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2024-10-02T06:05:21.639675","created_date":"2021-03-01"}