{"id":"https://openalex.org/W7130411039","doi":"https://doi.org/10.1017/s0263574726103166","title":"A semi-wearable robotic leg for reducing weight-bearing asymmetry during the sit-to-stand motion of hemiplegic individuals: design and preliminary study with healthy test subjects","display_name":"A semi-wearable robotic leg for reducing weight-bearing asymmetry during the sit-to-stand motion of hemiplegic individuals: design and preliminary study with healthy test subjects","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7130411039","doi":"https://doi.org/10.1017/s0263574726103166"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574726103166","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574726103166","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/00A2AC57389F2CCA34DA4C213FD1E281/S0263574726103166a.pdf/div-class-title-a-semi-wearable-robotic-leg-for-reducing-weight-bearing-asymmetry-during-the-sit-to-stand-motion-of-hemiplegic-individuals-design-and-preliminary-study-with-healthy-test-subjects-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/00A2AC57389F2CCA34DA4C213FD1E281/S0263574726103166a.pdf/div-class-title-a-semi-wearable-robotic-leg-for-reducing-weight-bearing-asymmetry-during-the-sit-to-stand-motion-of-hemiplegic-individuals-design-and-preliminary-study-with-healthy-test-subjects-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126346044","display_name":"Micah Jibril Peleo Alampay","orcid":null},"institutions":[{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Micah Jibril Peleo Alampay","raw_affiliation_strings":["Institute of Science Tokyo"],"raw_orcid":"https://orcid.org/0009-0008-3221-2899","affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo","institution_ids":["https://openalex.org/I4210085920","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079325757","display_name":"Ming Jiang","orcid":"https://orcid.org/0000-0003-4727-2022"},"institutions":[{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Jiang","raw_affiliation_strings":["Institute of Science Tokyo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo","institution_ids":["https://openalex.org/I4210085920","https://openalex.org/I4400009020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I4210085920","display_name":"Shanghai Institute for Science of Science","ror":"https://ror.org/004srxn73","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210085920"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Institute of Science Tokyo"],"raw_orcid":"https://orcid.org/0000-0002-6910-3329","affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo","institution_ids":["https://openalex.org/I4210085920","https://openalex.org/I4400009020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020891237","https://openalex.org/A5126346044"],"corresponding_institution_ids":["https://openalex.org/I4210085920","https://openalex.org/I4400009020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2470792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"44","issue":"1","first_page":"318","last_page":"342"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.6758000254631042,"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":0.6758000254631042,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.16030000150203705,"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"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.03420000150799751,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5996000170707703},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.5916000008583069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5537999868392944},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.5156999826431274},{"id":"https://openalex.org/keywords/asymmetry","display_name":"Asymmetry","score":0.4690999984741211},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.40459999442100525},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.36169999837875366},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.36000001430511475}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5996000170707703},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.5916000008583069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5827000141143799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5537999868392944},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.5156999826431274},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5072000026702881},{"id":"https://openalex.org/C38976095","wikidata":"https://www.wikidata.org/wiki/Q752641","display_name":"Asymmetry","level":2,"score":0.4690999984741211},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4050999879837036},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.40459999442100525},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.36169999837875366},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3488999903202057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3375000059604645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3133000135421753},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C60465272","wikidata":"https://www.wikidata.org/wiki/Q494478","display_name":"Range of motion","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C2780645631","wikidata":"https://www.wikidata.org/wiki/Q671554","display_name":"Stroke (engine)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.25920000672340393}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574726103166","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574726103166","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/00A2AC57389F2CCA34DA4C213FD1E281/S0263574726103166a.pdf/div-class-title-a-semi-wearable-robotic-leg-for-reducing-weight-bearing-asymmetry-during-the-sit-to-stand-motion-of-hemiplegic-individuals-design-and-preliminary-study-with-healthy-test-subjects-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:00897:0007370044","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100942407","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1017/s0263574726103166","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574726103166","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/00A2AC57389F2CCA34DA4C213FD1E281/S0263574726103166a.pdf/div-class-title-a-semi-wearable-robotic-leg-for-reducing-weight-bearing-asymmetry-during-the-sit-to-stand-motion-of-hemiplegic-individuals-design-and-preliminary-study-with-healthy-test-subjects-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7130411039.pdf","grobid_xml":"https://content.openalex.org/works/W7130411039.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W114606527","https://openalex.org/W1551000933","https://openalex.org/W1597258139","https://openalex.org/W1974219265","https://openalex.org/W1988074555","https://openalex.org/W2035282190","https://openalex.org/W2071394632","https://openalex.org/W2073246877","https://openalex.org/W2106147291","https://openalex.org/W2106660843","https://openalex.org/W2115138492","https://openalex.org/W2120798975","https://openalex.org/W2135875949","https://openalex.org/W2135887709","https://openalex.org/W2153495277","https://openalex.org/W2158957682","https://openalex.org/W2162203993","https://openalex.org/W2197517397","https://openalex.org/W2290679173","https://openalex.org/W2317202224","https://openalex.org/W2343715419","https://openalex.org/W2397204633","https://openalex.org/W2740917998","https://openalex.org/W2751829382","https://openalex.org/W2887857236","https://openalex.org/W2921594615","https://openalex.org/W2934640215","https://openalex.org/W2966650887","https://openalex.org/W2997619984","https://openalex.org/W3016726539","https://openalex.org/W3086267378","https://openalex.org/W3107239624","https://openalex.org/W3177489739","https://openalex.org/W4282942613","https://openalex.org/W4401915352"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Hemiplegia,":[1],"the":[2,8,32,69,81,93,98,110,139,149,160,189,198,209,217,225,235,241,244],"paralysis":[3],"of":[4,7,14,47,92,141,216,224,243],"one":[5,142],"side":[6,211],"body,":[9],"is":[10,41,59,73,131],"a":[11,54,74,101,115,204],"common":[12],"effect":[13],"stroke":[15],"and":[16,27,65,88,105,127,151,155,176,195,228,230],"provides":[17],"unique":[18,123],"challenges":[19],"for":[20,43,121],"afflicted":[21],"individuals,":[22],"including":[23],"asymmetric":[24],"body":[25],"strength":[26],"limited":[28],"mobility,":[29],"especially":[30],"in":[31,109,153,172,181],"sit-to-stand":[33],"(STS)":[34],"motion.":[35,71],"Reducing":[36],"weight-bearing":[37,86,179],"asymmetry":[38,87,171,180],"during":[39,68,163,234],"STS":[40,56,70,94,103,125,170,236],"important":[42],"improving":[44],"mobility":[45],"outcomes":[46],"hemiplegic":[48],"patients.":[49],"To":[50],"address":[51],"this":[52],"concern,":[53],"semi-wearable":[55],"assistive":[57,63,77,128,161,166,190],"robot":[58,78,129,162,167,191],"proposed":[60],"to":[61,84,147],"provide":[62],"force":[64,154],"motion":[66,95,108,140,156,237],"guidance":[67],"It":[72],"planar":[75],"2-DoF":[76],"attached":[79],"near":[80],"hip,":[82],"designed":[83],"reduce":[85],"facilitate":[89],"correct":[90],"execution":[91],"by":[96],"guiding":[97],"user":[99],"along":[100],"target":[102,124],"path":[104],"constraining":[106],"pelvic":[107],"frontal":[111],"plane,":[112],"controlled":[113],"using":[114,159],"single":[116],"worn":[117],"IMU.":[118],"The":[119,165,214],"method":[120],"generating":[122],"paths":[126],"design":[130],"presented.":[132],"Experiments":[133],"on":[134],"healthy":[135],"test":[136,174,183,199],"subjects":[137,175],"with":[138],"leg":[143],"constrained":[144,201],"were":[145],"conducted":[146],"determine":[148],"changes":[150],"correlations":[152],"parameters":[157],"when":[158],"STS.":[164],"improved":[168],"rising":[169],"some":[173],"reduced":[177],"stabilization":[178],"all":[182],"subjects.":[184],"Motion":[185],"data":[186],"showed":[187],"that":[188,220],"facilitated":[192],"hip":[193,226],"translation":[194],"tilt":[196,207,229],"toward":[197,208],"subjects\u2019":[200],"side,":[202],"while":[203],"counter":[205],"trunk":[206],"unconstrained":[210],"was":[212],"observed.":[213],"results":[215],"experiments":[218],"suggest":[219],"more":[221],"active":[222],"control":[223],"position":[227],"providing":[231],"real-time":[232],"feedback":[233],"could":[238],"further":[239],"improve":[240],"function":[242],"robot.":[245]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-02-19T00:00:00"}
