{"id":"https://openalex.org/W2170951102","doi":"https://doi.org/10.1109/robot.2001.932811","title":"Swinging from the hip: use of dynamic motion optimization in the design of robotic gait rehabilitation","display_name":"Swinging from the hip: use of dynamic motion optimization in the design of robotic gait rehabilitation","publication_year":2002,"publication_date":"2002-11-13","ids":{"openalex":"https://openalex.org/W2170951102","doi":"https://doi.org/10.1109/robot.2001.932811","mag":"2170951102"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2001.932811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2001.932811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)","raw_type":"proceedings-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/A5029720001","display_name":"Chunyuan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"C.-Yu.E. Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109980187","display_name":"J.E. Bobrow","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.E. Bobrow","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012347119","display_name":"David J. Reinkensmeyer","orcid":"https://orcid.org/0000-0002-3196-8706"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.J. Reinkensmeyer","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029720001"],"corresponding_institution_ids":["https://openalex.org/I204250578"],"apc_list":null,"apc_paid":null,"fwci":1.6201,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.82716612,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1433","last_page":"1438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/torso","display_name":"Torso","score":0.884896993637085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6038690805435181},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5908216238021851},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5868720412254333},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5438123941421509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5214171409606934},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47701501846313477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46655482053756714},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.43068838119506836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3814697563648224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28397509455680847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28048449754714966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2506425976753235},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.24897921085357666},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07258957624435425}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.884896993637085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6038690805435181},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5908216238021851},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5868720412254333},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5438123941421509},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5214171409606934},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47701501846313477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46655482053756714},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.43068838119506836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3814697563648224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28397509455680847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28048449754714966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2506425976753235},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.24897921085357666},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07258957624435425},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2001.932811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2001.932811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.24.1962","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.24.1962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://gram.eng.uci.edu/~chwang/project/stepper/stepper.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.8.4427","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.8.4427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eng.uci.edu/~dreinken/Biolab/../publications/hipswinger.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1547275814","https://openalex.org/W1949733498","https://openalex.org/W2021253285","https://openalex.org/W2049418390","https://openalex.org/W2102116977","https://openalex.org/W2113011280","https://openalex.org/W2143532770","https://openalex.org/W2162209750","https://openalex.org/W2163574775","https://openalex.org/W2356222136"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W2646895776","https://openalex.org/W2663581286","https://openalex.org/W2989484444","https://openalex.org/W3134497028"],"abstract_inverted_index":{"We":[0],"examine":[1],"a":[2,10,15,18,62,80,105],"method":[3],"to":[4,21,73,85,103,114],"control":[5,48,57],"the":[6,22,34,39,86,89,101,108],"stepping":[7],"motion":[8,29,91],"of":[9,116],"paralyzed":[11,109],"person":[12,110],"suspended":[13],"on":[14],"treadmill":[16],"using":[17],"robot":[19,102],"attached":[20],"torso":[23],"and":[24,66],"hips.":[25],"A":[26],"leg":[27],"swing":[28],"is":[30,43,59,71,83,98,112],"created":[31],"by":[32],"moving":[33],"hips":[35],"without":[36],"contact":[37],"with":[38],"legs.":[40],"The":[41,55],"problem":[42,49,58],"formulated":[44],"as":[45],"an":[46,51,67,117],"optimal":[47,56],"for":[50,100,107],"underactuated":[52],"articulated":[53],"chain.":[54],"converted":[60],"into":[61],"discrete":[63],"parameter":[64],"optimization":[65],"efficient":[68],"gradient-based":[69],"algorithm":[70],"used":[72],"solve":[74],"it.":[75],"Motion":[76],"capture":[77],"data":[78],"from":[79,88],"human":[81],"subject":[82],"compared":[84],"results":[87,94],"dynamic":[90],"optimization.":[92],"Our":[93],"indicate":[95],"that":[96,111,115],"it":[97],"possible":[99],"create":[104],"gait":[106],"close":[113],"unimpaired":[118],"subject.":[119]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}