{"id":"https://openalex.org/W1970691096","doi":"https://doi.org/10.1109/biorob.2014.6913859","title":"A lower limb exoskeleton with hybrid actuation","display_name":"A lower limb exoskeleton with hybrid actuation","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W1970691096","doi":"https://doi.org/10.1109/biorob.2014.6913859","mag":"1970691096"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2014.6913859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-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/A5034066619","display_name":"Hip\u00f3lito Aguilar Sierra","orcid":"https://orcid.org/0000-0002-7049-1584"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Hipolito Aguilar-Sierra","raw_affiliation_strings":["Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113772687","display_name":"R. L\u00f3pez","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ricardo Lopez","raw_affiliation_strings":["UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008201587","display_name":"Wen Yu","orcid":"https://orcid.org/0000-0002-9540-7924"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Wen Yu","raw_affiliation_strings":["Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032756462","display_name":"Sergio Salazar","orcid":"https://orcid.org/0000-0002-5089-1791"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Sergio Salazar","raw_affiliation_strings":["UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004002307","display_name":"Rogelio Lozano","orcid":"https://orcid.org/0000-0002-5730-6313"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Rogelio Lozano","raw_affiliation_strings":["UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico","UTC-HEUDIASyC, Centre de Recherches de Royallieu, France"],"affiliations":[{"raw_affiliation_string":"UMI-LAFMIA 3175, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"UTC-HEUDIASyC, Centre de Recherches de Royallieu, France","institution_ids":["https://openalex.org/I4210088387"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034066619"],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":1.121,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.76525309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"695","last_page":"700"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9848999977111816,"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":0.9832000136375427,"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/exoskeleton","display_name":"Exoskeleton","score":0.9767845869064331},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7399306893348694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5320901274681091},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4739672839641571},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4601721167564392},{"id":"https://openalex.org/keywords/lower-limb","display_name":"Lower limb","score":0.43670883774757385},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.42870819568634033},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3274303078651428},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3161624073982239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14804717898368835},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10886672139167786}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9767845869064331},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7399306893348694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5320901274681091},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4739672839641571},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4601721167564392},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.43670883774757385},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.42870819568634033},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3274303078651428},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3161624073982239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14804717898368835},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10886672139167786},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2014.6913859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2014.6913859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W365687943","https://openalex.org/W1493333755","https://openalex.org/W1565928583","https://openalex.org/W1567565985","https://openalex.org/W1956946726","https://openalex.org/W1978047226","https://openalex.org/W2000795873","https://openalex.org/W2002236127","https://openalex.org/W2066751209","https://openalex.org/W2086473770","https://openalex.org/W2090480261","https://openalex.org/W2095014003","https://openalex.org/W2102327451","https://openalex.org/W2132600856","https://openalex.org/W2154128597","https://openalex.org/W2161665172","https://openalex.org/W2166869394","https://openalex.org/W2168828783","https://openalex.org/W2469682870","https://openalex.org/W6682733194"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2083373979","https://openalex.org/W2988006194","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W2066221870","https://openalex.org/W4388283394"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,52,61],"lower":[4,57],"limb":[5],"exoskeleton":[6,48],"uses":[7],"a":[8],"harmonic":[9,25],"drive":[10,26],"actuator":[11,44],"and":[12,27,35,67],"two":[13],"pneumatic":[14],"artificial":[15],"muscles":[16],"(PAMs).":[17],"This":[18,47],"hybrid":[19],"actuation":[20],"takes":[21],"both":[22],"advantages":[23],"of":[24,40,43,55,65],"PAM.":[28],"It":[29],"provide":[30],"high":[31],"accuracy":[32],"position":[33],"control":[34],"compliant":[36],"behavior.":[37],"The":[38],"disadvantages":[39],"each":[41],"type":[42],"are":[45],"overcome.":[46],"is":[49],"suitable":[50],"for":[51],"strength":[53],"augmentation":[54],"human":[56],"limbs,":[58],"such":[59],"as":[60],"gait":[62],"rehabilitation":[63],"routine":[64],"hip":[66],"knee":[68],"joints.":[69]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}