{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,28]],"date-time":"2025-11-28T12:34:18Z","timestamp":1764333258858,"version":"build-2065373602"},"reference-count":54,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,10]],"date-time":"2023-01-10T00:00:00Z","timestamp":1673308800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Union\u2019s Horizon 2020 research and innovation program","doi-asserted-by":"publisher","award":["779963","10.13039\/501100011033","IJC2020-044467-I"],"award-info":[{"award-number":["779963","10.13039\/501100011033","IJC2020-044467-I"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"name":"CSIC Interdisciplinary Thematic Platform (PTI+) NEURO-AGINGl+ (PTI-NEURO-AGING+)","award":["779963","10.13039\/501100011033","IJC2020-044467-I"],"award-info":[{"award-number":["779963","10.13039\/501100011033","IJC2020-044467-I"]}]},{"DOI":"10.13039\/501100004837","name":"Spanish MCIN\/AEI\/","doi-asserted-by":"publisher","award":["779963","10.13039\/501100011033","IJC2020-044467-I"],"award-info":[{"award-number":["779963","10.13039\/501100011033","IJC2020-044467-I"]}],"id":[{"id":"10.13039\/501100004837","id-type":"DOI","asserted-by":"publisher"}]},{"name":"European Union NextGenerationEU\/PRTR","award":["779963","10.13039\/501100011033","IJC2020-044467-I"],"award-info":[{"award-number":["779963","10.13039\/501100011033","IJC2020-044467-I"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, robotic technology for gait training is becoming a common tool in rehabilitation hospitals. However, its effectiveness is still controversial. Traditional control strategies do not adequately integrate human intention and interaction and little is known regarding the impact of exoskeleton control strategies on muscle coordination, physical effort, and user acceptance. In this article, we benchmarked three types of exoskeleton control strategies in a sample of seven healthy volunteers: trajectory assistance (TC), compliant assistance (AC), and compliant assistance with EMG-Onset stepping control (OC), which allows the user to decide when to take a step during the walking cycle. This exploratory study was conducted within the EUROBENCH project facility. Experimental procedures and data analysis were conducted following EUROBENCH\u2019s protocols. Specifically, exoskeleton kinematics, muscle activation, heart and breathing rates, skin conductance, as well as user-perceived effort were analyzed. Our results show that the OC controller showed robust performance in detecting stepping intention even using a corrupt EMG acquisition channel. The AC and OC controllers resulted in similar kinematic alterations compared to the TC controller. Muscle synergies remained similar to the synergies found in the literature, although some changes in muscle contribution were found, as well as an overall increase in agonist-antagonist co-contraction. The OC condition led to the decreased mean duration of activation of synergies. These differences were not reflected in the overall physiological impact of walking or subjective perception. We conclude that, although the AC and OC walking conditions allowed the users to modulate their walking pattern, the application of these two controllers did not translate into significant changes in the overall physiological cost of walking nor the perceived experience of use. Nonetheless, results suggest that both AC and OC controllers are potentially interesting approaches that can be explored as gait rehabilitation tools. Furthermore, the INTENTION project is, to our knowledge, the first study to benchmark the effects on human\u2013exoskeleton interaction of three different exoskeleton controllers, including a new EMG-based controller designed by us and never tested in previous studies, which has made it possible to provide valuable third-party feedback on the use of the EUROBENCH facility and testbed, enriching the apprenticeship of the project consortium and contributing to the scientific community.<\/jats:p>","DOI":"10.3390\/s23020791","type":"journal-article","created":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T04:59:58Z","timestamp":1673413198000},"page":"791","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Benchmarking the Effects on Human\u2013Exoskeleton Interaction of Trajectory, Admittance and EMG-Triggered Exoskeleton Movement Control"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4351-3749","authenticated-orcid":false,"given":"Camila","family":"Rodrigues-Carvalho","sequence":"first","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28002 Madrid, Spain"},{"name":"Systems Engineering and Automation Department, Carlos III University of Madrid, 28903 Madrid, Spain"}]},{"given":"Marvin","family":"Fern\u00e1ndez-Garc\u00eda","sequence":"additional","affiliation":[{"name":"Electronic Technology Department, Rey Juan Carlos University, 28933 M\u00f3stoles, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0139-1261","authenticated-orcid":false,"given":"David","family":"Pinto-Fern\u00e1ndez","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28002 Madrid, Spain"},{"name":"CAR-UPM Associated Unit, Universidad Polit\u00e9cnica de Madrid, 28040 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8195-8346","authenticated-orcid":false,"given":"Clara","family":"Sanz-Morere","sequence":"additional","affiliation":[{"name":"Center for Clinical Neuroscience, Hospital Los Madro\u00f1os, 28690 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0228-6447","authenticated-orcid":false,"given":"Filipe Oliveira","family":"Barroso","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28002 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2353-2902","authenticated-orcid":false,"given":"Susana","family":"Borromeo","sequence":"additional","affiliation":[{"name":"Electronic Technology Department, Rey Juan Carlos University, 28933 M\u00f3stoles, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9243-2166","authenticated-orcid":false,"given":"Cristina","family":"Rodr\u00edguez-S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Electronic Technology Department, Rey Juan Carlos University, 28933 M\u00f3stoles, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9561-7764","authenticated-orcid":false,"given":"Juan C.","family":"Moreno","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28002 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6215-2593","authenticated-orcid":false,"given":"Antonio J.","family":"del-Ama","sequence":"additional","affiliation":[{"name":"Electronic Technology Department, Rey Juan Carlos University, 28933 M\u00f3stoles, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1303","DOI":"10.2147\/NDT.S114102","article-title":"Robot-assisted gait training for stroke patients: Current state of the art and perspectives of robotics","volume":"13","author":"Morone","year":"2017","journal-title":"Neuropsychiatr. Dis. Treat."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1186\/s12984-022-01037-z","article-title":"Robot-assisted gait training: More randomized controlled trials are needed! Or maybe not?","volume":"19","year":"2022","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1016\/j.apmr.2019.01.025","article-title":"Systematic Reviews of Clinical Benefits of Exoskeleton Use for Gait and Mobility in Neurologic Disorders: A Tertiary Study","volume":"102","author":"Dijkers","year":"2021","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"321","DOI":"10.3233\/NRE-151265","article-title":"The effectiveness of powered, active lower limb exoskeletons in neurorehabilitation: A systematic review","volume":"37","author":"Federici","year":"2015","journal-title":"NeuroRehabilitation"},{"key":"ref_5","first-page":"72","article-title":"Symbiotic Wearable Robotic Exoskeletons: The Concept of the BioMot Project","volume":"Volume 8820","author":"Moreno","year":"2014","journal-title":"Lecture Notes in Computer Science (including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"30","DOI":"10.3389\/fnbot.2017.00030","article-title":"An adaptive neuromuscular controller for assistive lower-limb exoskeletons: A preliminary study on subjects with spinal cord injury","volume":"11","author":"Wu","year":"2017","journal-title":"Front. Neurorobot."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s12984-021-00946-9","article-title":"Learning to walk with a wearable robot in 880 simple steps","volume":"18","author":"Haufe","year":"2021","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"3487","DOI":"10.1126\/scirobotics.abj3487","article-title":"The role of user preference in the customized control of robotic exoskeletons","volume":"7","author":"Ingraham","year":"2022","journal-title":"Sci. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1","DOI":"10.3389\/fnbot.2021.750519","article-title":"Adaptation Strategies for Personalized Gait Neuroprosthetics","volume":"15","author":"Koelewijn","year":"2021","journal-title":"Front. Neurorobot."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1186\/1743-0003-10-79","article-title":"Effects of robotic guidance on the coordination of locomotion","volume":"10","author":"Moreno","year":"2013","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Maggioni, S., Lunenburger, L., Riener, R., and Melendez-Calderon, A. (2015, January 11\u201314). Robot-aided assessment of walking function based on an adaptive algorithm. Proceedings of the 2015 IEEE International Conference on Rehabilitation Robotics, Singapore.","DOI":"10.1109\/ICORR.2015.7281301"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1109\/TMECH.2012.2219065","article-title":"An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries","volume":"19","author":"Jamwal","year":"2014","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1109\/TSMCA.2012.2207111","article-title":"Robust Nonlinear Control of an Intrinsically Compliant Robotic Gait Training Orthosis","volume":"43","author":"Hussain","year":"2013","journal-title":"IEEE Trans. Syst. Man, Cybern. Syst."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Tang, Z., Shi, D., Liu, D., Peng, Z., He, L., and Pei, Z. (2013, January 26\u201328). Electro-hydraulic servo system for Human Lower-limb Exoskeleton based on sliding mode variable structure control. Proceedings of the 2013 IEEE International Conference on Information and Automation for Sustainability, Yinchuan, China.","DOI":"10.1109\/ICInfA.2013.6720360"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1186\/s10033-019-0389-8","article-title":"A Review on Lower Limb Rehabilitation Exoskeleton Robots","volume":"32","author":"Shi","year":"2019","journal-title":"Chin. J. Mech. Eng."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"2541","DOI":"10.1109\/TCST.2018.2865768","article-title":"Impedance Reduction Control of a Knee Joint Human\u2013Exoskeleton System","volume":"27","author":"Huo","year":"2019","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Sposito, M., Toxiri, S., Caldwell, D.G., Ortiz, J., and De Momi, E. (2019). Towards Design Guidelines for Physical Interfaces on Industrial Exoskeletons: Overview on Evaluation Metrics, Springer.","DOI":"10.1007\/978-3-030-01887-0_33"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1068","DOI":"10.1109\/JSYST.2014.2351491","article-title":"Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art","volume":"10","author":"Huo","year":"2016","journal-title":"IEEE Syst. J."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"722","DOI":"10.1109\/TOH.2021.3104518","article-title":"Haptic training: Which types facilitate (re)learning of which motor task and for whom Answers by a review","volume":"14","author":"Basalp","year":"2021","journal-title":"IEEE Trans Haptics"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1109\/TRA.2003.808873","article-title":"A human-Assisting manipulator teleoperated by EMG signals and arm motions","volume":"19","author":"Fukuda","year":"2003","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"879","DOI":"10.1109\/TBME.2016.2538296","article-title":"Neural data-driven musculoskeletal modeling for personalized neurorehabilitation technologies","volume":"63","author":"Sartori","year":"2016","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Kirchner, E.A., Tabie, M., and Seeland, A. (2014). Multimodal movement prediction\u2014Towards an individual assistance of patients. PLoS ONE, 9.","DOI":"10.1371\/journal.pone.0085060"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"2387","DOI":"10.1109\/TBME.2006.880883","article-title":"Real-time myoprocessors for a neural controlled powered exoskeleton arm","volume":"53","author":"Cavallaro","year":"2006","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_24","first-page":"323","article-title":"An EMG-based Assistive Orthosis for Upper Limb Rehabilitation","volume":"1","author":"Benitez","year":"2013","journal-title":"Proc. Int. Conf. Biomed. Electron. Devices"},{"key":"ref_25","first-page":"610589","article-title":"Exoskeleton technology in rehabilitation: Towards an EMG-based orthosis system for upper limb neuromotor rehabilitation","volume":"2013","author":"Tabie","year":"2013","journal-title":"J. Robot."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Kiguchi, K., Imada, Y., and Liyanage, M. (2007, January 22\u201326). EMG-based neuro-fuzzy control of a 4DOF upper-limb power-assist exoskeleton. Proceedings of the 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Lyon, France.","DOI":"10.1109\/IEMBS.2007.4352969"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"476","DOI":"10.2106\/00004623-199303000-00027","article-title":"Gait Analysis, Normal and Pathological Function","volume":"75","author":"Simon","year":"1993","journal-title":"J. Bone Jt. Surg."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1251\/bpo115","article-title":"Techniques of EMG signal analysis: Detection, processing, classification and applications","volume":"8","author":"Reaz","year":"2006","journal-title":"Biol. Proc. Online"},{"key":"ref_29","first-page":"16","article-title":"Muscle Synergies: Implications for Clinical Evaluation and Rehabilitation of Movement","volume":"17","author":"Safavynia","year":"2011","journal-title":"Spinal Cord"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"De Luca, A., Bellitto, A., Mandraccia, S., Marchesi, G., Pellegrino, L., Coscia, M., Leoncini, C., Rossi, L., Gamba, S., and Massone, A. (2019). Exoskeleton for gait rehabilitation: Effects of assistance, mechanical structure and walking aids on muscle activations. Appl. Sci., 9.","DOI":"10.3390\/app9142868"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"349","DOI":"10.1007\/978-3-319-46669-9_59","article-title":"Muscle activity and coordination during robot-assisted walking with h2 exoskeleton","volume":"Volume 15","author":"Pons","year":"2017","journal-title":"Biosystem Biorobotics"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"848","DOI":"10.1109\/TBME.2003.813539","article-title":"A Robust, Real-Time Control Scheme for Multifunction Myoelectric Control","volume":"50","author":"Englehart","year":"2003","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1","DOI":"10.3389\/fneur.2018.00630","article-title":"Electromyography Assessment During Gait in a Robotic Exoskeleton for Acute Stroke","volume":"9","author":"Androwis","year":"2018","journal-title":"Front. Neurol."},{"key":"ref_34","unstructured":"Eurobench (2022, August 15). EUROBENCH Testbeds. Available online: https:\/\/eurobench2020.eu."},{"key":"ref_35","unstructured":"Eurobench FSTP-1 (2022, August 15). Benchmarking Exoskeleton-Assisted Gait Based on User\u2019s Subjective Perspective and Experience. Available online: https:\/\/eurobench2020.eu\/developing-the-framework\/benchmarking-exoskeleton-assisted-gait-based-on-users-subjective-perspective-and-experience-experience\/."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1007\/978-3-030-70316-5_32","article-title":"Pilot Testing of a New Questionnaire for the Assessment of User Experience During Exoskeleton-Assisted Walking","volume":"Volume 28","author":"Pisotta","year":"2022","journal-title":"Biosystem Biorobotics"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1007\/978-3-030-70316-5_33","article-title":"Psychophysiological Assessment of Exoskeleton-Assisted Treadmill Walking","volume":"Volume 28","author":"Pecoraro","year":"2022","journal-title":"Biosystem Biorobotics"},{"key":"ref_38","unstructured":"(2022, August 15). EUROBENCH PEPATO Testbed. Available online: https:\/\/eurobench2020.eu."},{"key":"ref_39","unstructured":"Technaid, S.L. (2022). EXO-H3\u2014Especificaciones T\u00e9cnicas (EN), TECHNAID. Technical Report."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1768","DOI":"10.1109\/TBME.2020.3015572","article-title":"Intramuscular Stimulation of Muscle Afferents Attains Prolonged Tremor Reduction in Essential Tremor Patients","volume":"68","author":"Muceli","year":"2021","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Bortole, M., Antonio, J.d.-A., Rocon, E., Moreno, J.C., Brunetti, F., and Pons, J.L. (2013, January 3\u20137). A robotic exoskeleton for overground gait rehabilitation. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/ICRA.2013.6631045"},{"key":"ref_42","first-page":"511","article-title":"A comparison of computer-based methods for the determination of onset of muscle contraction using electromyography","volume":"101","author":"Hodges","year":"1996","journal-title":"Electroencephalogr. Clin. Neurophysiol."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1016\/0165-0270(92)90095-U","article-title":"A method for automatic identification of periods of muscular activity from EMG recordings","volume":"42","author":"Gilbey","year":"1992","journal-title":"J. Neurosci. Methods"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"89220C","DOI":"10.1117\/12.2035673","article-title":"A threshold-based approach for muscle contraction detection from surface EMG signals","volume":"8922","author":"Morantes","year":"2013","journal-title":"IX Int. Semin. Med. Inf. Process. Anal."},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Dow, D.E., Petrilli, A.M., Mantilla, C.B., Zhan, W.Z., and Sieck, G.C. (2012, January 20\u201324). Electromyogram-triggered inspiratory event detection algorithm. Proceedings of the 6th International Conference on Soft Computing and Intelligent Systems and The 13th International Symposium on Advanced Intelligence Systems SCIS\/ISIS 2012, Kobe, Japan.","DOI":"10.1109\/SCIS-ISIS.2012.6505353"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1109\/51.982274","article-title":"Improving detection of muscle activation intervals","volume":"20","author":"Micera","year":"2001","journal-title":"IEEE Eng. Med. Biol. Mag."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1016\/S1350-4533(99)00067-3","article-title":"Objective motor response onset detection in surface myoelectric signals","volume":"21","author":"Staude","year":"1999","journal-title":"Med. Eng. Phys."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"1473","DOI":"10.1016\/j.camwa.2012.03.094","article-title":"Myoelectric activity detection during a Sit-to-Stand movement using threshold methods","volume":"64","author":"Rasool","year":"2012","journal-title":"Comput. Math. Appl."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"1019","DOI":"10.1093\/brain\/awh115","article-title":"Distributed plasticity of locomotor pattern generators in spinal cord injured patients","volume":"127","author":"Grasso","year":"2004","journal-title":"Brain"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"706","DOI":"10.3389\/fnhum.2015.00706","article-title":"Muscle Synergies in Cycling after Incomplete Spinal Cord Injury: Correlation with Clinical Measures of Motor Function and Spasticity","volume":"9","author":"Barroso","year":"2016","journal-title":"Front. Hum. Neurosci."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"518","DOI":"10.1080\/10790268.2017.1314900","article-title":"Neuromechanical adaptations during a robotic powered exoskeleton assisted walking session","volume":"41","author":"Ramanujam","year":"2018","journal-title":"J. Spinal Cord Med."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"1128","DOI":"10.1109\/TNSRE.2014.2324153","article-title":"Human\u2013robot interaction: Kinematics and muscle activity inside a powered compliant knee exoskeleton","volume":"22","author":"Knaepen","year":"2014","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_53","first-page":"1050","article-title":"Muscle Synergy Alteration of Human During Walking With Lower Limb Exoskeleton","volume":"1","author":"Zhang","year":"2019","journal-title":"Front. Neurosci."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1016\/j.fas.2018.12.005","article-title":"A state-of-the-art review of foot pressure","volume":"26","author":"Zulkifli","year":"2020","journal-title":"Foot Ankle Surg."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/791\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:05:41Z","timestamp":1760119541000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/2\/791"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,10]]},"references-count":54,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2023,1]]}},"alternative-id":["s23020791"],"URL":"https:\/\/doi.org\/10.3390\/s23020791","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2023,1,10]]}}}