{"id":"https://openalex.org/W2058074226","doi":"https://doi.org/10.1038/nature14288","title":"Reducing the energy cost of human walking using an unpowered exoskeleton","display_name":"Reducing the energy cost of human walking using an unpowered exoskeleton","publication_year":2015,"publication_date":"2015-03-31","ids":{"openalex":"https://openalex.org/W2058074226","doi":"https://doi.org/10.1038/nature14288","mag":"2058074226","pmid":"https://pubmed.ncbi.nlm.nih.gov/25830889","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/4481882"},"language":"en","primary_location":{"id":"doi:10.1038/nature14288","doi":"https://doi.org/10.1038/nature14288","is_oa":false,"landing_page_url":"https://doi.org/10.1038/nature14288","pdf_url":null,"source":{"id":"https://openalex.org/S137773608","display_name":"Nature","issn_l":"0028-0836","issn":["0028-0836","1476-4687"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","dongbi-a","doyens","erih-plus","jufo-3","ki-jl-3","medline","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4481882","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037382800","display_name":"Steven H. Collins","orcid":"https://orcid.org/0000-0002-3997-3374","observed_orcids":["https://orcid.org/0000-0002-3997-3374"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven H. Collins","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, Pennsylvania 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084253677","display_name":"M. Bruce Wiggin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]},{"id":"https://openalex.org/I4210131205","display_name":"Lampe Joint Department of Biomedical Engineering","ror":"https://ror.org/03hakdk41","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177","https://openalex.org/I137902535","https://openalex.org/I4210131205"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Bruce Wiggin","raw_affiliation_strings":["Joint Department of Biomedical Engineering, North Carolina State University and the University of North Carolina at Chapel Hill, 911 Oval Drive, Raleigh, North Carolina 27695, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joint Department of Biomedical Engineering, North Carolina State University and the University of North Carolina at Chapel Hill, 911 Oval Drive, Raleigh, North Carolina 27695, USA","institution_ids":["https://openalex.org/I114027177","https://openalex.org/I137902535","https://openalex.org/I4210131205"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053488609","display_name":"Gregory S. Sawicki","orcid":"https://orcid.org/0000-0002-5588-6297","observed_orcids":["https://orcid.org/0000-0002-5588-6297"]},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]},{"id":"https://openalex.org/I4210131205","display_name":"Lampe Joint Department of Biomedical Engineering","ror":"https://ror.org/03hakdk41","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177","https://openalex.org/I137902535","https://openalex.org/I4210131205"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Gregory S. Sawicki","raw_affiliation_strings":["Joint Department of Biomedical Engineering, North Carolina State University and the University of North Carolina at Chapel Hill, 911 Oval Drive, Raleigh, North Carolina 27695, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Joint Department of Biomedical Engineering, North Carolina State University and the University of North Carolina at Chapel Hill, 911 Oval Drive, Raleigh, North Carolina 27695, USA","institution_ids":["https://openalex.org/I114027177","https://openalex.org/I137902535","https://openalex.org/I4210131205"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037382800","https://openalex.org/A5053488609"],"corresponding_institution_ids":["https://openalex.org/I114027177","https://openalex.org/I137902535","https://openalex.org/I4210131205","https://openalex.org/I74973139"],"apc_list":{"value":12690,"currency":"USD","value_usd":12690},"apc_paid":null,"fwci":37.0996,"has_fulltext":false,"cited_by_count":1027,"citation_normalized_percentile":{"value":0.99941826,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"522","issue":"7555","first_page":"212","last_page":"215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":9.999999747378752e-05,"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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":9.999999747378752e-05,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ankle-exoskeleton","display_name":"ankle exoskeleton","score":0.8479999899864197},{"id":"https://openalex.org/keywords/energy-cost-of-walking","display_name":"energy cost of walking","score":0.7559999823570251},{"id":"https://openalex.org/keywords/human-locomotion","display_name":"human locomotion","score":0.6949999928474426},{"id":"https://openalex.org/keywords/energy-efficiency","display_name":"energy efficiency","score":0.43700000643730164},{"id":"https://openalex.org/keywords/human-machine-systems","display_name":"human-machine systems","score":0.527999997138977},{"id":"https://openalex.org/keywords/walking-economy","display_name":"walking economy","score":0.6340000033378601}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9183186292648315},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.8791208267211914},{"id":"https://openalex.org/C2991809073","wikidata":"https://www.wikidata.org/wiki/Q240673","display_name":"Metabolic cost","level":2,"score":0.6303681135177612},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5988172292709351},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5951968431472778},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5619429349899292},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5575848817825317},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5505577921867371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5227858424186707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4809407591819763},{"id":"https://openalex.org/C3019295976","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Leg muscle","level":2,"score":0.46487119793891907},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.45763495564460754},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3630256652832031},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.31490790843963623},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2755218744277954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2398073673248291},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18222761154174805},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15122413635253906},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13837271928787231},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11540481448173523},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10232558846473694},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001701","descriptor_name":"Bionics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D001701","descriptor_name":"Bionics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D055815","descriptor_name":"Young Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.1038/nature14288","doi":"https://doi.org/10.1038/nature14288","is_oa":false,"landing_page_url":"https://doi.org/10.1038/nature14288","pdf_url":null,"source":{"id":"https://openalex.org/S137773608","display_name":"Nature","issn_l":"0028-0836","issn":["0028-0836","1476-4687"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","dongbi-a","doyens","erih-plus","jufo-3","ki-jl-3","medline","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature","raw_type":"journal-article"},{"id":"pmid:25830889","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25830889","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature","raw_type":"Journal Article"},{"id":"pmh:oai:europepmc.org:3650160","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4481882","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:4481882","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4481882","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Nature","raw_type":"Text"},{"id":"pmh:oai:RePEc:nat:nature:v:522:y:2015:i:7555:d:10.1038_nature14288","doi":null,"is_oa":false,"landing_page_url":"https://www.nature.com/articles/nature14288","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:europepmc.org:3650160","doi":null,"is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4481882","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.428600013256073,"id":"https://metadata.un.org/sdg/3"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G8136060460","display_name":"NRI: Novel platform for rapid exploration of robotic ankle exoskeleton control st","funder_award_id":"R01NR014756","funder_id":"https://openalex.org/F4320337353","funder_display_name":"National Institute of Nursing Research"}],"funders":[{"id":"https://openalex.org/F4320337353","display_name":"National Institute of Nursing Research","ror":"https://ror.org/01y3zfr79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1015344976","https://openalex.org/W1495958605","https://openalex.org/W1509565492","https://openalex.org/W1559393815","https://openalex.org/W1559572901","https://openalex.org/W1589503602","https://openalex.org/W1626229989","https://openalex.org/W1948631484","https://openalex.org/W1970985187","https://openalex.org/W1983801397","https://openalex.org/W1991235214","https://openalex.org/W1997267771","https://openalex.org/W1997635873","https://openalex.org/W1998036587","https://openalex.org/W2010542681","https://openalex.org/W2013771067","https://openalex.org/W2015324860","https://openalex.org/W2016592635","https://openalex.org/W2016669611","https://openalex.org/W2017291484","https://openalex.org/W2028383950","https://openalex.org/W2040562380","https://openalex.org/W2046382797","https://openalex.org/W2063026846","https://openalex.org/W2081874733","https://openalex.org/W2082806606","https://openalex.org/W2097311579","https://openalex.org/W2100792856","https://openalex.org/W2116930230","https://openalex.org/W2128330209","https://openalex.org/W2135079799","https://openalex.org/W2138347979","https://openalex.org/W2145079789","https://openalex.org/W2146469560","https://openalex.org/W2147988336","https://openalex.org/W2149744701","https://openalex.org/W2149972931","https://openalex.org/W2152335888","https://openalex.org/W2152578300","https://openalex.org/W2160123492","https://openalex.org/W2160432358","https://openalex.org/W2167010174","https://openalex.org/W2168224345","https://openalex.org/W2170477928","https://openalex.org/W2236853351","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W3164219617","https://openalex.org/W4284683241","https://openalex.org/W2287555228","https://openalex.org/W2170477928","https://openalex.org/W3120028572","https://openalex.org/W1559572901","https://openalex.org/W7098609775","https://openalex.org/W2621718393","https://openalex.org/W3046109807","https://openalex.org/W2247048436"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":76},{"year":2025,"cited_by_count":84},{"year":2024,"cited_by_count":91},{"year":2023,"cited_by_count":108},{"year":2022,"cited_by_count":137},{"year":2021,"cited_by_count":107},{"year":2020,"cited_by_count":95},{"year":2019,"cited_by_count":105},{"year":2018,"cited_by_count":91},{"year":2017,"cited_by_count":74},{"year":2016,"cited_by_count":45},{"year":2015,"cited_by_count":14}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2016-06-24T00:00:00"}
