{"id":"https://openalex.org/W2568256591","doi":"https://doi.org/10.1109/humanoids.2016.7803418","title":"Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. Experimental evidence for three equilibrium-point-based synergies during human pedaling","display_name":"Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. Experimental evidence for three equilibrium-point-based synergies during human pedaling","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2568256591","doi":"https://doi.org/10.1109/humanoids.2016.7803418","mag":"2568256591"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803418","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/A5083775497","display_name":"Eichi Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eichi Watanabe","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031852411","display_name":"T. Oku","orcid":"https://orcid.org/0000-0002-5805-2378"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takanori Oku","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006182265","display_name":"Hiroaki Hirai","orcid":"https://orcid.org/0000-0002-2404-082X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Hirai","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065227930","display_name":"Yoshikawa Fumiaki","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumiaki Yoshikawa","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041918523","display_name":"Yuma Nagakawa","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuma Nagakawa","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103766814","display_name":"Kuroiwa Akira","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Kuroiwa","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020713059","display_name":"Emerson Paul Grabke","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"funder","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Emerson Paul Grabke","raw_affiliation_strings":["Faculty of Applied Science & Engineering, University of Toronto, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Applied Science & Engineering, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101486609","display_name":"Mitsunori Uemura","orcid":"https://orcid.org/0000-0003-3135-9844"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsunori Uemura","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113737834","display_name":"Fumio Miyazaki","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Miyazaki","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067050655","display_name":"Hermano Igo Krebs","orcid":"https://orcid.org/0000-0002-9317-0900"},"institutions":[{"id":"https://openalex.org/I145673806","display_name":"Fujita Health University","ror":"https://ror.org/046f6cx68","country_code":"JP","type":"funder","lineage":["https://openalex.org/I145673806"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"funder","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I155125353","display_name":"Universit\u00e0 Campus Bio-Medico","ror":"https://ror.org/04gqx4x78","country_code":"IT","type":"funder","lineage":["https://openalex.org/I155125353"]},{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"funder","lineage":["https://openalex.org/I143804889"]},{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"funder","lineage":["https://openalex.org/I98285908"]},{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"funder","lineage":["https://openalex.org/I126744593"]},{"id":"https://openalex.org/I84884186","display_name":"Newcastle University","ror":"https://ror.org/01kj2bm70","country_code":"GB","type":"funder","lineage":["https://openalex.org/I84884186"]}],"countries":["GB","IT","JP","US"],"is_corresponding":false,"raw_author_name":"Hermano Igo Krebs","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, USA","Department of Mechanical Science and Bioengineering, Osaka University, Osaka, Japan","Department of Neurology, School of Medicine, Baltimore, USA","Department of Physical Medicine and Rehabilitation, Fujita Health University, Nagoya, Japan","Institute of Neuroscience, Newcastle University, Newcastle upon Tyne, UK","Programme Bioengineering and Biosciences, University Campus Bio-Medico of Rome, Rome, Italy","Wolfson School of Engineering, Loughborough University, Loughborough, UK"],"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, Fujita Health University, Nagoya, Japan","institution_ids":["https://openalex.org/I145673806"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Programme Bioengineering and Biosciences, University Campus Bio-Medico of Rome, Rome, Italy","institution_ids":["https://openalex.org/I155125353"]},{"raw_affiliation_string":"Wolfson School of Engineering, Loughborough University, Loughborough, UK","institution_ids":["https://openalex.org/I143804889"]},{"raw_affiliation_string":"Department of Mechanical Science and Bioengineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Department of Neurology, School of Medicine, Baltimore, USA","institution_ids":["https://openalex.org/I126744593"]},{"raw_affiliation_string":"Institute of Neuroscience, Newcastle University, Newcastle upon Tyne, UK","institution_ids":["https://openalex.org/I84884186"]}]}],"institution_assertions":[],"countries_distinct_count":5,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.385,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":2,"citation_normalized_percentile":{"value":0.484561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":73,"max":77},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998,"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":0.9998,"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":0.9995,"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"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9955,"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/modularity","display_name":"Modularity","score":0.651658},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor Control","score":0.5324774},{"id":"https://openalex.org/keywords/motor-coordination","display_name":"Motor coordination","score":0.4751784},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.470375}],"concepts":[{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.651658},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6081642},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.60266256},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.5324774},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.5151869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092901},{"id":"https://openalex.org/C113062710","wikidata":"https://www.wikidata.org/wiki/Q2463100","display_name":"Motor coordination","level":2,"score":0.4751784},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.470375},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.45981392},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45655364},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4280835},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.40313837},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3822394},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36517653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26045024},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.25853527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23029181},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15446219},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.12497771},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.080946416},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803418","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":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":9,"referenced_works":["https://openalex.org/W1764503756","https://openalex.org/W1848976532","https://openalex.org/W1992840328","https://openalex.org/W2001331546","https://openalex.org/W2040052855","https://openalex.org/W2063151375","https://openalex.org/W2072738986","https://openalex.org/W2073797397","https://openalex.org/W2202050196"],"related_works":["https://openalex.org/W4389418504","https://openalex.org/W4239828298","https://openalex.org/W3110303806","https://openalex.org/W3081602035","https://openalex.org/W2995260435","https://openalex.org/W2385169333","https://openalex.org/W2153634145","https://openalex.org/W2147486826","https://openalex.org/W2054341294","https://openalex.org/W1964625716"],"abstract_inverted_index":{"Developing":[0],"a":[1,13,20,39,58],"musculoskeletal":[2,59,121,137],"robot":[3,15,138],"with":[4,19],"multiple":[5,45],"muscles":[6],"is":[7,76,84],"important":[8],"for":[9,44],"not":[10],"only":[11],"establishing":[12],"novel":[14],"that":[16,135],"achieves":[17],"coordination":[18],"human":[21,33],"but":[22],"also":[23],"in":[24,31,158],"understanding":[25],"the":[26,32,66,69,87,98,108,111,120,131,136,144,147,153],"framework":[27,43],"of":[28,68,90,101,110,146,155],"motor":[29,156],"control":[30,42,73,119,157],"body.":[34],"Our":[35],"pioneering":[36],"work":[37],"proposed":[38,70],"biologically":[40,71],"inspired":[41,72],"redundant":[46],"muscles;":[47],"however,":[48],"very":[49],"few":[50],"practical":[51],"results":[52],"have":[53],"been":[54],"reported":[55],"on":[56,64,107],"controlling":[57],"robot.":[60,124],"This":[61,142],"study":[62],"focused":[63],"confirming":[65],"usability":[67],"framework,":[74],"which":[75],"referred":[77],"to":[78,118],"as":[79,150,152],"equilibrium-point":[80],"(EP)-based":[81],"synergyies":[82],"and":[83,114],"expressed":[85],"by":[86],"activation":[88],"balance":[89],"agonist-antagonist":[91],"muscle":[92],"pairs.":[93],"Electromyography":[94],"data":[95],"obtained":[96,128],"from":[97,129],"pedaling":[99],"task":[100],"five":[102,132],"subjects":[103,133],"were":[104,115],"analyzed":[105],"based":[106],"concept":[109],"EP-based":[112,126,148],"synergies,":[113],"then":[116],"used":[117],"lower":[122],"limb":[123],"Three":[125],"synergies":[127,149],"all":[130],"indicated":[134],"achieved":[139],"forward":[140],"pedaling.":[141],"indicates":[143],"utility":[145],"well":[151],"modularity":[154],"humans.":[159]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2568256591","counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-04-23T20:42:44.167466","created_date":"2017-01-13"}