{"id":"https://openalex.org/W3090133748","doi":"https://doi.org/10.1109/icra40945.2020.9197054","title":"Modulating hip stiffness with a robotic exoskeleton immediately changes gait","display_name":"Modulating hip stiffness with a robotic exoskeleton immediately changes gait","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090133748","doi":"https://doi.org/10.1109/icra40945.2020.9197054","mag":"3090133748"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197054","doi":"https://doi.org/10.1109/icra40945.2020.9197054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197054","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/141413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121","observed_orcids":["https://orcid.org/0000-0002-3434-0121"]},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016505668","display_name":"Haley R. Warren","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I111236770","display_name":"University of Vermont","ror":"https://ror.org/0155zta11","country_code":"US","type":"education","lineage":["https://openalex.org/I111236770"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haley R. Warren","raw_affiliation_strings":["Department of Biomedical Engineering, University of Vermont, Burlington, VT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Vermont, Burlington, VT, USA","institution_ids":["https://openalex.org/I111236770"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080969592","display_name":"Vibha Agarwal","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vibha Agarwal","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045432789","display_name":"Meghan E. Huber","orcid":"https://orcid.org/0000-0002-0415-4002","observed_orcids":["https://orcid.org/0000-0002-0415-4002"]},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Meghan E. Huber","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112008455","display_name":"Neville Hogan","orcid":"https://orcid.org/0000-0001-5366-2145","observed_orcids":["https://orcid.org/0000-0001-5366-2145"]},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neville Hogan","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4835,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.95751081,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"733","last_page":"739"},"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.00019999999494757503,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hip-stiffness","display_name":"hip stiffness","score":0.7820000052452087},{"id":"https://openalex.org/keywords/robotic-exoskeleton","display_name":"robotic exoskeleton","score":0.9419999718666077},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"mechanical impedance","score":0.6959999799728394},{"id":"https://openalex.org/keywords/gait-modulation","display_name":"gait modulation","score":0.8650000095367432},{"id":"https://openalex.org/keywords/stride-time","display_name":"stride time","score":0.7590000033378601},{"id":"https://openalex.org/keywords/hip-range-of-motion","display_name":"hip range of motion","score":0.9980000257492065},{"id":"https://openalex.org/keywords/virtual-springs","display_name":"virtual springs","score":0.6959999799728394},{"id":"https://openalex.org/keywords/lower-limb-assistive-devices","display_name":"lower-limb assistive devices","score":0.7590000033378601},{"id":"https://openalex.org/keywords/treadmill-walking","display_name":"treadmill walking","score":0.875},{"id":"https://openalex.org/keywords/gait-rehabilitation","display_name":"gait rehabilitation","score":0.6290000081062317}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8677293062210083},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7978426218032837},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.7137163877487183},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6377279758453369},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.601345956325531},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.57950359582901},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.5689657330513},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5641230940818787},{"id":"https://openalex.org/C60465272","wikidata":"https://www.wikidata.org/wiki/Q494478","display_name":"Range of motion","level":2,"score":0.4793968200683594},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.47541481256484985},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.41329237818717957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3361152410507202},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.30144941806793213},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2074907422065735},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.19556483626365662},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1493934988975525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1050761342048645},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09525451064109802},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06439900398254395},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197054","doi":"https://doi.org/10.1109/icra40945.2020.9197054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197054","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/141413","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/141413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Hogan via Elizabeth Kuhlman","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/141413","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/141413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Hogan via Elizabeth Kuhlman","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"display_name":"Good health and well-being","score":0.766700029373169,"id":"https://metadata.un.org/sdg/3"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1981702297","https://openalex.org/W1990518231","https://openalex.org/W2007715965","https://openalex.org/W2015977498","https://openalex.org/W2034579881","https://openalex.org/W2063617169","https://openalex.org/W2073702421","https://openalex.org/W2074563816","https://openalex.org/W2126906108","https://openalex.org/W2147582248","https://openalex.org/W2149646777","https://openalex.org/W2163385748","https://openalex.org/W2169609017","https://openalex.org/W2287555228","https://openalex.org/W2411309527","https://openalex.org/W2576893463","https://openalex.org/W2594043787","https://openalex.org/W2734794766","https://openalex.org/W2908002960","https://openalex.org/W2953915543"],"related_works":["https://openalex.org/W3094580037","https://openalex.org/W4206626364","https://openalex.org/W4312692232","https://openalex.org/W4313173362","https://openalex.org/W2897180031","https://openalex.org/W4206580481","https://openalex.org/W2786501022","https://openalex.org/W4390887483","https://openalex.org/W4383108933","https://openalex.org/W3011416535"],"abstract_inverted_index":{"Restoring":[0],"healthy":[1,65,158],"kinematics":[2],"is":[3],"a":[4,37,135],"critical":[5],"component":[6],"of":[7,62,73,82,108],"assisting":[8],"and":[9,41,59,79,117],"rehabilitating":[10],"impaired":[11],"locomotion.":[12],"Here":[13],"we":[14,35],"tested":[15],"whether":[16],"spatiotemporal":[17,106],"gait":[18,109,126,159],"patterns":[19],"can":[20],"be":[21,151],"modulated":[22],"by":[23,129],"applying":[24,50,130,143],"mechanical":[25,136,144],"impedance":[26,145],"to":[27,95,156],"hip":[28,60,80,131],"joints.":[29],"Using":[30],"the":[31,44,54,71,111],"Samsung":[32],"GEMS-H":[33],"exoskeleton,":[34],"emulated":[36],"virtual":[38],"spring":[39],"(positive":[40],"negative)":[42],"between":[43,115],"user's":[45],"legs.":[46],"We":[47],"found":[48],"that":[49,123,142],"positive":[51],"stiffness":[52,75,112,132],"with":[53],"exoskeleton":[55],"decreased":[56],"stride":[57,77],"time":[58,78],"range":[61,81],"motion":[63],"for":[64],"subjects":[66],"during":[67],"treadmill":[68],"walking.":[69],"Conversely,":[70],"application":[72],"negative":[74],"increased":[76],"motion.":[83],"These":[84,120],"effects":[85],"did":[86],"not":[87],"vary":[88],"over":[89],"long":[90],"nor":[91],"short":[92],"repeated":[93],"exposures":[94],"applied":[96],"stiffness.":[97],"In":[98],"addition,":[99],"minimal":[100],"transient":[101],"behavior":[102,127],"was":[103],"observed":[104],"in":[105,125],"measures":[107],"when":[110],"controller":[113],"transitioned":[114],"on":[116],"off":[118],"states.":[119],"results":[121],"suggest":[122],"changes":[124],"induced":[128],"were":[133],"purely":[134],"effect.":[137],"Together,":[138],"our":[139],"findings":[140],"indicate":[141],"using":[146],"lower-limb":[147],"assistive":[148],"devices":[149],"may":[150],"an":[152],"effective,":[153],"minimally-encumbering":[154],"intervention":[155],"restore":[157],"patterns.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2020-10-08T00:00:00"}
