{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T04:57:13Z","timestamp":1781845033551,"version":"3.54.5"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2021,2,23]],"date-time":"2021-02-23T00:00:00Z","timestamp":1614038400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,2,23]],"date-time":"2021-02-23T00:00:00Z","timestamp":1614038400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Ministry of Health","award":["NMRC\/BnB\/0019b\/2015"],"award-info":[{"award-number":["NMRC\/BnB\/0019b\/2015"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,3]]},"DOI":"10.1007\/s10846-021-01335-z","type":"journal-article","created":{"date-parts":[[2021,2,23]],"date-time":"2021-02-23T15:04:57Z","timestamp":1614092697000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Omnidirectional Platforms for Gait Training: Admittance-Shaping Control for Enhanced Mobility"],"prefix":"10.1007","volume":"101","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3834-9171","authenticated-orcid":false,"given":"Gabriel","family":"Aguirre-Ollinger","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haoyong","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,2,23]]},"reference":[{"issue":"4","key":"1335_CR1","doi-asserted-by":"publisher","first-page":"486","DOI":"10.1177\/0278364910385730","volume":"30","author":"G Aguirre-Ollinger","year":"2011","unstructured":"Aguirre-Ollinger, G., Colgate, J., Peshkin, M., Goswami, A.: Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation. Int. J. Robot. Res. 30(4), 486\u2013499 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"1335_CR2","doi-asserted-by":"publisher","unstructured":"Aguirre-Ollinger, G., Nagarajan, U., Goswami, A.: An admittance shaping controller for exoskeleton assistance of the lower extremities. Auton. Robot. 1\u201328. https:\/\/doi.org\/10.1007\/s10514-015-9490-8 (2015)","DOI":"10.1007\/s10514-015-9490-8"},{"key":"1335_CR3","doi-asserted-by":"publisher","unstructured":"Aguirre-Ollinger, G., Narayan, A., Reyes, F.A., Cheng, H.J., Yu, H.: High mobility control of an omnidirectional platform for gait rehabilitation after stroke. In: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), IEEE. https:\/\/doi.org\/10.1109\/icorr.2019.8779487 (2019)","DOI":"10.1109\/icorr.2019.8779487"},{"issue":"5","key":"1335_CR4","doi-asserted-by":"publisher","first-page":"957","DOI":"10.1007\/s10514-017-9677-2","volume":"42","author":"A Ajoudani","year":"2017","unstructured":"Ajoudani, A., Zanchettin, A.M., Ivaldi, S., Albu-Sch\u00e4ffer, A., Kosuge, K., Khatib, O.: Progress and prospects of the human-robot collaboration. Auton. Robot. 42(5), 957\u2013975 (2017). https:\/\/doi.org\/10.1007\/s10514-017-9677-2","journal-title":"Auton. Robot."},{"issue":"1","key":"1335_CR5","doi-asserted-by":"publisher","first-page":"66","DOI":"10.1186\/1743-0003-8-66","volume":"8","author":"JM Belda-Lois","year":"2011","unstructured":"Belda-Lois, J.M., Mena-del Horno, S., Bermejo-Bosch, I., Moreno, J.C., Pons, J.L., Farina, D., Iosa, M., Molinari, M., Tamburella, F., Ramos, A., Caria, A., Solis-Escalante, T., Brunner, C., Rea, M.: Rehabilitation of gait after stroke: A review towards a top-down approach. J. NeuroEng. Rehabilitat. 8(1), 66 (2011). https:\/\/doi.org\/10.1186\/1743-0003-8-66","journal-title":"J. NeuroEng. Rehabilitat."},{"key":"1335_CR6","doi-asserted-by":"publisher","unstructured":"Bouri, M., Stauffer, Y., Schmitt, C., Brodard, R., Allemand, Y., Gnemmi, S., Metrailler, P., Clavel, R.: The WalkTrainer: A robotic system for walking rehabilitation. In: IEEE International Conference on Robotics and Biomimetics - ROBIO2006(ROBIO). https:\/\/doi.org\/10.1109\/ROBIO.2006.340186, vol. 00, pp 1616\u20131621 (2006)","DOI":"10.1109\/ROBIO.2006.340186"},{"key":"1335_CR7","unstructured":"Brockett, R.W.: Asymptotic stability and feedback stabilization. In: Differential Geometric Control Theory, Birkhauser, pp 181\u2013191 (1983)"},{"issue":"2","key":"1335_CR8","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1109\/TRO.2007.892229","volume":"23","author":"S Buerger","year":"2007","unstructured":"Buerger, S., Hogan, N.: Complementary stability and loop shaping for improved human-robot interaction. Robot. IEEE Trans. 23(2), 232\u2013244 (2007)","journal-title":"Robot. IEEE Trans."},{"key":"1335_CR9","doi-asserted-by":"crossref","unstructured":"Campion, G., d\u2019Andrea Novel, B., Bastin, G.: Controllability and state feedback stabilizability of non holonomic mechanical systems. In: Canudas De Wit, C. (ed.) Advanced Robot Control, pp 106\u2013124. Springer, Berlin (1991)","DOI":"10.1007\/BFb0039268"},{"key":"1335_CR10","volume-title":"Neurorehabilitation Technology","author":"B DA","year":"2016","unstructured":"DA, B., TD, L., Reinkensmeyer, D., Duarte, J.: Neurorehabilitation Technology. Springer, Berlin (2016)"},{"issue":"3","key":"1335_CR11","doi-asserted-by":"publisher","first-page":"149","DOI":"10.1002\/(SICI)1097-4563(199703)14:3<149::AID-ROB1>3.0.CO;2-R","volume":"14","author":"R Fierro","year":"1997","unstructured":"Fierro, R., Lewis, F.: Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics. J. Robot. Syst. 14(3), 149\u2013163 (1997)","journal-title":"J. Robot. Syst."},{"issue":"2","key":"1335_CR12","doi-asserted-by":"publisher","first-page":"212","DOI":"10.3200\/JMBR.36.2.212-224","volume":"36","author":"MA Guadagnoli","year":"2004","unstructured":"Guadagnoli, M.A., Lee, T.D.: Challenge point: A framework for conceptualizing the effects of various practice conditions in motor learning. J. Motor Behav. 36(2), 212\u2013224 (2004). https:\/\/doi.org\/10.3200\/JMBR.36.2.212-224, pMID: 15130871","journal-title":"J. Motor Behav."},{"issue":"3","key":"1335_CR13","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1023\/A:1008185917537","volume":"29","author":"F Han","year":"2000","unstructured":"Han, F., Yamada, T., Watanabe, K., Kiguchi, K., Izumi, K.: Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator. J. Intell. Robot. Syst 29(3), 257\u2013275 (2000). https:\/\/doi.org\/10.1023\/A:1008185917537","journal-title":"J. Intell. Robot. Syst"},{"key":"1335_CR14","doi-asserted-by":"publisher","unstructured":"He, W., Xue, C., Yu, X., Li, Z., Yang, C.: Admittance-based controller design for physical human-robot interaction in the constrained task space. IEEE Trans. Autom. Sci. Eng. 1\u201313. https:\/\/doi.org\/10.1109\/tase.2020.2983225 (2020)","DOI":"10.1109\/tase.2020.2983225"},{"key":"1335_CR15","doi-asserted-by":"crossref","unstructured":"Hogan, N., Buerger, S: Relaxing passivity for human-robot interaction. In: Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2006)","DOI":"10.1109\/IROS.2006.282161"},{"issue":"4","key":"1335_CR16","doi-asserted-by":"publisher","first-page":"1257","DOI":"10.1109\/TASE.2015.2466634","volume":"12","author":"J Huang","year":"2015","unstructured":"Huang, J., Huo, W., Xu, W., Mohammed, S., Amirat, Y.: Control of upper-limb power-assist exoskeleton using a human-robot interface based on motion intention recognition. IEEE Trans. Autom. Sci. Eng. 12(4), 1257\u20131270 (2015). https:\/\/doi.org\/10.1109\/tase.2015.2466634","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"1","key":"1335_CR17","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1016\/S0003-9993(95)80038-7","volume":"76","author":"HS Jorgensen","year":"1995","unstructured":"Jorgensen, H.S., Nakayama, H., Raaschou, H.O., Olsen, T.S.: Recovery of walking function in stroke patients: The Copenhagen stroke study. Archiv. Phys. Med. Rehab. 76(1), 27\u201332 (1995). https:\/\/doi.org\/10.1016\/S0003-9993(95)80038-7","journal-title":"Archiv. Phys. Med. Rehab."},{"issue":"11","key":"1335_CR18","doi-asserted-by":"publisher","first-page":"1421","DOI":"10.1177\/0278364918768950","volume":"37","author":"AQ Keemink","year":"2018","unstructured":"Keemink, A.Q., van der Kooij, H., Stienen, A.H.: Admittance control for physical human\u2013robot interaction. Int. J. Robot. Res. 37(11), 1421\u20131444 (2018). https:\/\/doi.org\/10.1177\/0278364918768950","journal-title":"Int. J. Robot. Res."},{"key":"1335_CR19","volume-title":"Nonlinear systems","author":"H Khalil","year":"2002","unstructured":"Khalil, H.: Nonlinear systems, 3rd edn. Prentice Hall, New Jersey (2002)","edition":"3rd edn."},{"issue":"1","key":"1335_CR20","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1109\/TASE.2015.2494067","volume":"13","author":"CD Lim","year":"2016","unstructured":"Lim, C.D., Wang, C.M., Cheng, C.Y., Chao, Y., Tseng, S.H., Fu, L.C.: Sensory cues guided rehabilitation robotic walker realized by depth image-based gait analysis. IEEE Trans. Autom. Sci. Eng. 13(1), 171\u2013180 (2016). https:\/\/doi.org\/10.1109\/tase.2015.2494067","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"2","key":"1335_CR21","doi-asserted-by":"publisher","first-page":"991","DOI":"10.1109\/TASE.2019.2954769","volume":"17","author":"L Liu","year":"2020","unstructured":"Liu, L., Leonhardt, S., Ngo, C., Misgeld, B.J.E.: Impedance-controlled variable stiffness actuator for lower limb robot applications. IEEE Trans. Autom. Sci. Eng. 17(2), 991\u20131004 (2020). https:\/\/doi.org\/10.1109\/tase.2019.2954769","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"1335_CR22","doi-asserted-by":"crossref","unstructured":"Marchal-Crespo, L., Reinkensmeyer, D.: Review of control strategies for robotic movement training after neurologic injury. J. NeuroEng. Rehabilitat. 6(20) (2009)","DOI":"10.1186\/1743-0003-6-20"},{"key":"1335_CR23","doi-asserted-by":"publisher","unstructured":"Marks, D., Schweinfurther, R., Dewor, A., Huster, T., Paredes, L.P., Zutter, D., M\u00f6ller, J.C.: The andago for overground gait training in patients with gait disorders after stroke - results from a usability study. Physiother. Res. Rep. 2(2). https:\/\/doi.org\/10.15761\/prr.1000128 (2019)","DOI":"10.15761\/prr.1000128"},{"issue":"4","key":"1335_CR24","doi-asserted-by":"publisher","first-page":"548","DOI":"10.1016\/j.robot.2011.11.015","volume":"60","author":"MM Martins","year":"2012","unstructured":"Martins, M.M., Santos, C.P., Frizera-Neto, A., Ceres, R.: Assistive mobility devices focusing on smart walkers: Classification and review. Robot. Autonom. Syst. 60 (4), 548\u2013562 (2012). https:\/\/doi.org\/10.1016\/j.robot.2011.11.015","journal-title":"Robot. Autonom. Syst."},{"key":"1335_CR25","doi-asserted-by":"publisher","unstructured":"Mehrholz, J., Thomas, S., Elsner, B.: Treadmill training and body weight support for walking after stroke. Cochrane Database of Systematic Reviews. https:\/\/doi.org\/10.1002\/14651858.cd002840.pub4 (2017)","DOI":"10.1002\/14651858.cd002840.pub4"},{"issue":"399","key":"1335_CR26","doi-asserted-by":"publisher","first-page":"eaah3621","DOI":"10.1126\/scitranslmed.aah3621","volume":"9","author":"JB Mignardot","year":"2017","unstructured":"Mignardot, J.B., Goff, C.G.L., van den Brand, R., Capogrosso, M., Fumeaux, N., Vallery, H., Anil, S., Lanini, J., Fodor, I., Eberle, G., Ijspeert, A., Schurch, B., Curt, A., Carda, S., Bloch, J., von Zitzewitz, J., Courtine, G.: A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury. Sci. Trans. Med. 9(399), eaah3621 (2017). https:\/\/doi.org\/10.1126\/scitranslmed.aah3621","journal-title":"Sci. Trans. Med."},{"issue":"3-10","key":"1335_CR27","doi-asserted-by":"publisher","first-page":"191","DOI":"10.1016\/S0094-5765(01)00098-4","volume":"49","author":"AE Minetti","year":"2001","unstructured":"Minetti, A.E.: Invariant aspects of human locomotion in different gravitational environments. Acta Astronaut. 49(3-10), 191\u2013198 (2001). https:\/\/doi.org\/10.1016\/s0094-5765(01)00098-4","journal-title":"Acta Astronaut."},{"key":"1335_CR28","doi-asserted-by":"publisher","unstructured":"Mun, K., Yu, H., Zhu, C., Cruz, M.S.: Design of a novel robotic over-ground walking device for gait rehabilitation. In: 2014 IEEE 13th International Workshop on Advanced Motion Control (AMC), pp 458\u2013463 (2014). https:\/\/doi.org\/10.1109\/AMC.2014.6823325","DOI":"10.1109\/AMC.2014.6823325"},{"issue":"11","key":"1335_CR29","doi-asserted-by":"publisher","first-page":"1621","DOI":"10.1007\/s11517-016-1450-8","volume":"54","author":"KR Mun","year":"2016","unstructured":"Mun, K.R., Guo, Z., Yu, H.: Restriction of pelvic lateral and rotational motions alters lower limb kinematics and muscle activation pattern during over-ground walking. Med. Biologic. Eng. Comput. 54(11), 1621\u20131629 (2016). https:\/\/doi.org\/10.1007\/s11517-016-1450-8","journal-title":"Med. Biologic. Eng. Comput."},{"key":"1335_CR30","doi-asserted-by":"publisher","unstructured":"Oda, M., Zhu, C., Suzuki, M., Luo, X., Watanabe, H., Yan, Y.: Admittance based control of wheelchair typed omnidirectional robot for walking support and power assistance. In: 19th International Symposium in Robot and Human Interactive Communication, pp 159\u2013164 (2010). https:\/\/doi.org\/10.1109\/ROMAN.2010.5598681","DOI":"10.1109\/ROMAN.2010.5598681"},{"key":"1335_CR31","doi-asserted-by":"crossref","unstructured":"Okunev, V., Nierhoff, T., Hirche, S.: Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction. In: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, pp 443\u2013448 (2012)","DOI":"10.1109\/ROMAN.2012.6343792"},{"key":"1335_CR32","unstructured":"Peshkin, M., Brown, D., Santos-Munne, J., Makhlin, A., Lewis, E., Colgate, J., Patton, J., Schwandt, D.: KineAssist: A robotic overground gait and balance training device. In: Rehabilitation Robotics, 2005 ICORR 2005 9th International Conference on, pp 241\u2013246 (2005)"},{"issue":"8","key":"1335_CR33","doi-asserted-by":"publisher","first-page":"1009","DOI":"10.2522\/ptj.20050394","volume":"87","author":"M Roerdink","year":"2007","unstructured":"Roerdink, M., Lamoth, C.J., Kwakkel, G., van Wieringen, P.C., Beek, P.J.: Gait coordination after stroke: Benefits of acoustically paced treadmill walking. Phys. Ther. 87(8), 1009\u20131022 (2007). https:\/\/doi.org\/10.2522\/ptj.20050394","journal-title":"Phys. Ther."},{"issue":"2","key":"1335_CR34","doi-asserted-by":"publisher","first-page":"156","DOI":"10.1109\/TNSRE.2009.2015179","volume":"17","author":"K Seo","year":"2009","unstructured":"Seo, K., Lee, J.: The development of two mobile gait rehabilitation systems. IEEE Trans. Neural Syst. Rehabil. Eng. 17(2), 156\u2013166 (2009). https:\/\/doi.org\/10.1109\/TNSRE.2009.2015179","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"issue":"3","key":"1335_CR35","doi-asserted-by":"publisher","first-page":"264","DOI":"10.1109\/TNSRE.2008.918424","volume":"16","author":"A Veg","year":"2008","unstructured":"Veg, A., Popovic, D.B.: Walkaround: Mobile balance support for therapy of walking. IEEE Trans. Neural Syst. Rehabil. Eng. 16(3), 264\u2013269 (2008). https:\/\/doi.org\/10.1109\/TNSRE.2008.918424","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"1335_CR36","doi-asserted-by":"crossref","first-page":"25","DOI":"10.2340\/1650197787192530","volume":"19","author":"D Wade","year":"1987","unstructured":"Wade, D.: Walking after stroke measurement and recovery over the first three months. Scand. J. Rehabil. Med. 19, 25\u201330 (1987). https:\/\/ci.nii.ac.jp\/naid\/20000909438\/en\/","journal-title":"Scand. J. Rehabil. Med."},{"key":"1335_CR37","doi-asserted-by":"crossref","unstructured":"Wang, H., Patota, F., Buondonno, G., Haendl, M., De Luca, A., Kosuge, K.: Stability and variable admittance control in the physical interaction with a mobile robot. Int. J. Adv. Robot. Syst. 12(173) (2015)","DOI":"10.5772\/61313a"},{"key":"1335_CR38","doi-asserted-by":"crossref","unstructured":"Yu, H., Spenko, M., Dubowsky, S.: Omni-directional mobility using active split offset castors. J. Mech. Des. 126(5) (2004)","DOI":"10.1115\/1.1767181"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01335-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-021-01335-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01335-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T20:20:21Z","timestamp":1697919621000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-021-01335-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,2,23]]},"references-count":38,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,3]]}},"alternative-id":["1335"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01335-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,2,23]]},"assertion":[{"value":"28 August 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 January 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 February 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The experimental protocol was approved by the Domain Specific Review Board of the National Healthcare Group, Singapore (DSRB reference 2017\/00696).","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"All participants gave their informed consent to take part in the study.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"All participants gave their informed consent for the experimental results to be published. (No personal or otherwise identifying information is presented in this article.)","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Publish"}},{"value":"The authors declare having no competing interests in this study.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"52"}}