{"id":"https://openalex.org/W2331825771","doi":"https://doi.org/10.1108/ir-05-2015-0085","title":"A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base","display_name":"A compact stair-climbing wheelchair with two 3-DOF legs and a 1-DOF base","publication_year":2016,"publication_date":"2016-03-21","ids":{"openalex":"https://openalex.org/W2331825771","doi":"https://doi.org/10.1108/ir-05-2015-0085","mag":"2331825771"},"language":"en","primary_location":{"id":"doi:10.1108/ir-05-2015-0085","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2015-0085","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075893038","display_name":"Chang-Hyuk Lee","orcid":"https://orcid.org/0000-0002-2137-6491"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Hyuk Lee","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, Seoul National University, Suwon-si, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University, Suwon-si, Republic of Korea","institution_ids":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747694","display_name":"Kyung-Min Lee","orcid":"https://orcid.org/0000-0003-2863-2985"},"institutions":[{"id":"https://openalex.org/I2800187215","display_name":"Korean Intellectual Property Office","ror":"https://ror.org/05btn9560","country_code":"KR","type":"government","lineage":["https://openalex.org/I2800187215"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyung-min Lee","raw_affiliation_strings":["Korean Intellectual Property Office, Daejeon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korean Intellectual Property Office, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I2800187215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112091743","display_name":"Jehong Yoo","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jehong Yoo","raw_affiliation_strings":["Advanced Institutes of Convergence Technology, Seoul National University, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070169765","display_name":"Insu Kim","orcid":"https://orcid.org/0000-0001-5359-0890"},"institutions":[{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"In-su Kim","raw_affiliation_strings":["Hyundai-Kia R&D Center, Hyundai Motor Company, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hyundai-Kia R&D Center, Hyundai Motor Company, Republic of Korea","institution_ids":["https://openalex.org/I49946491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033743740","display_name":"Young\u2010bong Bang","orcid":"https://orcid.org/0000-0002-6573-1037"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-bong Bang","raw_affiliation_strings":["Advanced Institutes of Convergence Technology, Seoul National University, Suwon\u2013si, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Seoul National University, Suwon\u2013si, Republic of Korea","institution_ids":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5019,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.80674639,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"43","issue":"2","first_page":"181","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9944000244140625,"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/wheelchair","display_name":"Wheelchair","score":0.9311932921409607},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.7607828974723816},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.7389065027236938},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6607367396354675},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.652739405632019},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44728392362594604},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41047564148902893},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4042394161224365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38313204050064087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3380466103553772},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15502214431762695},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1227467954158783},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09107068181037903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09015482664108276},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07837814092636108}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.9311932921409607},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.7607828974723816},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.7389065027236938},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6607367396354675},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.652739405632019},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44728392362594604},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41047564148902893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4042394161224365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38313204050064087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3380466103553772},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15502214431762695},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1227467954158783},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09107068181037903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09015482664108276},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07837814092636108},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-05-2015-0085","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2015-0085","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1594165221","https://openalex.org/W1932972761","https://openalex.org/W1974488491","https://openalex.org/W1975705049","https://openalex.org/W1990142670","https://openalex.org/W1994782601","https://openalex.org/W1996628103","https://openalex.org/W2000712562","https://openalex.org/W2013188889","https://openalex.org/W2019188491","https://openalex.org/W2022401222","https://openalex.org/W2050338562","https://openalex.org/W2051629092","https://openalex.org/W2054949529","https://openalex.org/W2059092240","https://openalex.org/W2087499337","https://openalex.org/W2125356896","https://openalex.org/W2133859362","https://openalex.org/W2135855117","https://openalex.org/W2141129988","https://openalex.org/W2166248798"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2781161971","https://openalex.org/W2082442769","https://openalex.org/W2628003308","https://openalex.org/W2047426691","https://openalex.org/W2975358643"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,43,100,152],"The":[2,44,57,74,101,153],"purpose":[3],"of":[4,17,28,82,123,133],"this":[5],"paper":[6],"is":[7,32,127],"to":[8,95,129,143],"describe":[9],"a":[10,22,78,90,140],"compact":[11,64],"wheelchair,":[12],"which":[13],"has":[14],"two":[15,51],"3-degrees":[16],"freedom":[18],"(DOF)":[19],"legs":[20,53,158],"and":[21,36,89,108,135,159,170,177],"1-DOF":[23],"base":[24],"(the":[25],"total":[26],"DOF":[27],"the":[29,50,63,68,121,124,131,136,145],"leg":[30,58],"system":[31,94],"7)":[33],"for":[34,38],"stair-climbing,":[35],"wheels":[37,161],"flat":[39,72,167],"surface":[40,168],"driving.":[41],"Design/methodology/approach":[42],"proposed":[45,102],"wheelchair":[46,65,69,103,137,154],"climbs":[47],"stairs":[48,110],"using":[49,85],"3-DOF":[52],"with":[54,156],"boomerang-shaped":[55],"feet.":[56],"mechanisms":[59],"are":[60,116],"folded":[61],"into":[62],"body":[66],"when":[67,114],"moves":[70],"over":[71],"surfaces.":[73],"authors":[75],"also":[76],"propose":[77],"simple":[79],"estimation":[80],"method":[81],"stair":[83,164],"shape":[84],"laser":[86],"distance":[87],"sensors,":[88],"dual":[91],"motor":[92],"driving":[93,160,169],"increase":[96],"joint":[97],"power.":[98],"Findings":[99],"can":[104],"climb":[105],"arbitrary":[106],"height":[107],"width":[109],"by":[111],"itself,":[112],"even":[113],"they":[115],"slightly":[117],"curved.":[118],"During":[119],"climbing,":[120,165],"trajectory":[122],"seat":[125],"position":[126],"linear":[128],"guarantee":[130],"comfort":[132],"rider,":[134],"always":[138],"keeps":[139],"stable":[141],"condition":[142],"ensure":[144],"stability":[146],"in":[147],"an":[148],"emergency":[149],"stop.":[150],"Originality/value":[151],"mechanism":[155],"foldable":[157],"enables":[162],"smooth":[163],"efficient":[166],"additional":[171],"useful":[172],"motions":[173],"such":[174],"as":[175],"standing":[176],"tilting.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
