{"entities":{"Q4589451":{"pageid":6619036,"ns":120,"title":"Item:Q4589451","lastrevid":41706358,"modified":"2025-05-07T10:14:42Z","type":"item","id":"Q4589451","labels":{"en":{"language":"en","value":"Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6805601"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4589451$17BF2B62-DD46-4918-AAD6-A213EEFF5CBC","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"4343f46eac07caa342b207a64580f357eed831e8","datavalue":{"value":{"text":"Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4589451$55A27433-DA34-4326-8F4C-54401E3D6812","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5447366e1dfbcbd3e636053a52febf0c4040ce7b","datavalue":{"value":"1373.93240","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$0FFE0F4B-FA7D-4FAA-B5FC-18ED15A05DBD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a59233c810ab1ca0dcc908d6f2efb7844248ac50","datavalue":{"value":"10.1109/TAC.2017.2648040","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$3103779C-84C4-43DE-854A-2555F06450B5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7cb50474d2b123526ab9ced62177457b0445ffbd","datavalue":{"value":{"entity-type":"item","numeric-id":4589449,"id":"Q4589449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4589451$284E03BC-01ED-4A41-AB44-0EA079E01C73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"029b8d0881e8d59222f32b433f66a960235fe60a","datavalue":{"value":{"entity-type":"item","numeric-id":4589450,"id":"Q4589450"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4589451$EC62BD15-D284-417F-AE64-330F3E66B04C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"231075b9dab1b13e4c64992ef81666085035687e","datavalue":{"value":{"entity-type":"item","numeric-id":123639,"id":"Q123639"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4589451$443BB39F-82DB-4981-A57D-CF1739804264","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c851dddc18687fa1af98fb94fafafdff8d946b43","datavalue":{"value":{"time":"+2017-11-10T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4589451$4CE8CC4D-3D0A-4253-A8B2-6BAB7BCBF1CC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$85FE0CB9-0107-44A8-9CBB-E0CC0B7B4646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6cd2dee30926fa9b0dad415b46290fd2f62a0166","datavalue":{"value":"92C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$08C542BD-E206-4451-A40D-4813A5CF96FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$B2D18A1C-FCDF-4486-864A-DFC915B97F80","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e134fa16ab2f5a6350ceac50979452dda7b0aefa","datavalue":{"value":"93B18","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$B1A9370B-89AB-41B5-9FE2-0C0872B458E4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"28c7ca553f341510cea8b73308c4da1bad094e95","datavalue":{"value":"6805601","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$8D7ED0B9-DDE1-47D3-8F83-684D3E0195BB","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4589451$CB1B93E0-EC87-43AF-BFB1-6E972F2509B0","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"5c6d565b8379c3e71d48b9a8f47097f035e38ee6","datavalue":{"value":"Q47220722","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4589451$E75031AD-D77A-464B-966A-6FA7571D094D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f341ba4b395735592a56c3b81eb9bcb8ec8165e2","datavalue":{"value":{"entity-type":"item","numeric-id":2073818,"id":"Q2073818"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9b192e00022ccaa62a375a1e9f5b144b36670589","datavalue":{"value":{"amount":"+0.8793969","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4589451$58E6F353-325A-4AE3-9A6E-2EBD6FED5F19","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"baff84d1151a3a2078193ccc258ee67e339f2c08","datavalue":{"value":{"entity-type":"item","numeric-id":2335472,"id":"Q2335472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"71769881d75fb4323d1337785ba43e5738004d57","datavalue":{"value":{"amount":"+0.87746084","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4589451$4E6BD911-CB66-414B-8373-ECF62A80CBED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0880b2edc55e637f4f862f526db6388512453807","datavalue":{"value":{"entity-type":"item","numeric-id":4486998,"id":"Q4486998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"58bd04375e1f17ebffd0795882c647317b1e66e8","datavalue":{"value":{"amount":"+0.86644065","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4589451$6CCC3BB7-ED22-4EE9-B233-FBEC7C682F10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4c028719f88174d6fc502d66abdf06743d5f1a21","datavalue":{"value":{"entity-type":"item","numeric-id":5410839,"id":"Q5410839"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c78db9a8b5799dd45aeb69cd94626a455878eb24","datavalue":{"value":{"amount":"+0.8655937","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4589451$7A0740EB-110F-4500-88C4-F13797F31A54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b26a2c5dad264d706467f11fe228aae175d8aafa","datavalue":{"value":{"entity-type":"item","numeric-id":2110825,"id":"Q2110825"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88db26f48eee6d07aeb7a917aab021724d61491d","datavalue":{"value":{"amount":"+0.8650858","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4589451$025B77F0-9D87-4076-90B0-DC1BE61B8430","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4589451","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4589451"}}}}}