{"id":"https://openalex.org/W2897232221","doi":"https://doi.org/10.1109/biorob.2018.8487771","title":"Comparing the Performance of a Cable-Driven Active Leg Exoskeleton (C-ALEX) Over-Ground and on a Treadmill","display_name":"Comparing the Performance of a Cable-Driven Active Leg Exoskeleton (C-ALEX) Over-Ground and on a Treadmill","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2897232221","doi":"https://doi.org/10.1109/biorob.2018.8487771","mag":"2897232221"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2018.8487771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5038942163","display_name":"Rand Hidayah","orcid":"https://orcid.org/0000-0002-5348-3128"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rand Hidayah","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088798272","display_name":"Xin Jin","orcid":"https://orcid.org/0000-0002-9797-2003"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Jin","raw_affiliation_strings":["Columbia University, New York, NY, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, US","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004710806","display_name":"Siddharth Chamarthy","orcid":"https://orcid.org/0000-0002-6005-6132"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Chamarthy","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040483053","display_name":"Matthew Maguire Fitzgerald","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Maguire Fitzgerald","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K Agrawal","raw_affiliation_strings":["Department of Biomedical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":3.6281,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.93573487,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"299","last_page":"304"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9969000220298767,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9934999942779541,"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/exoskeleton","display_name":"Exoskeleton","score":0.9212104082107544},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.6716135740280151},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6584640145301819},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6420433521270752},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5879024267196655},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5680884718894958},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5175525546073914},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4905916750431061},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.473786324262619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45978832244873047},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.43958476185798645},{"id":"https://openalex.org/keywords/hip-flexion","display_name":"Hip flexion","score":0.4227578341960907},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3475010097026825},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.22334101796150208},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16402950882911682},{"id":"https://openalex.org/keywords/range-of-motion","display_name":"Range of motion","score":0.147910475730896},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13979166746139526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13514778017997742},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10078558325767517}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9212104082107544},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.6716135740280151},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6584640145301819},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6420433521270752},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5879024267196655},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5680884718894958},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5175525546073914},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4905916750431061},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.473786324262619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45978832244873047},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.43958476185798645},{"id":"https://openalex.org/C3020486539","wikidata":"https://www.wikidata.org/wiki/Q5768011","display_name":"Hip flexion","level":3,"score":0.4227578341960907},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3475010097026825},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.22334101796150208},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16402950882911682},{"id":"https://openalex.org/C60465272","wikidata":"https://www.wikidata.org/wiki/Q494478","display_name":"Range of motion","level":2,"score":0.147910475730896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13979166746139526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13514778017997742},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10078558325767517},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2018.8487771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2018.8487771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W261295452","https://openalex.org/W1536806151","https://openalex.org/W2042308380","https://openalex.org/W2090623340","https://openalex.org/W2109376471","https://openalex.org/W2123133082","https://openalex.org/W2141987834","https://openalex.org/W2149762511","https://openalex.org/W2163764715","https://openalex.org/W2165536887","https://openalex.org/W2168303459","https://openalex.org/W2175613144","https://openalex.org/W2311427518","https://openalex.org/W2594390768","https://openalex.org/W2670106055","https://openalex.org/W2737156933","https://openalex.org/W2739111177","https://openalex.org/W2794037572"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W4388627005","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Robotic":[0],"rehabilitation":[1],"devices":[2],"have":[3,131],"gained":[4],"significant":[5,138,162,166],"popularity":[6],"in":[7,31,36,61,156],"the":[8,22,29,72,76,92,100,106,114,141,150],"past":[9],"decade.":[10],"Over-ground":[11],"leg":[12,50],"exoskeletons":[13],"commonly":[14],"use":[15,143],"traditional":[16],"rigid":[17,54],"link":[18,55],"architectures":[19,40],"or":[20],"support":[21],"weight":[23],"of":[24,74,116],"a":[25,32,49,53,65,84,182],"user":[26,30],"by":[27],"strapping":[28],"harness.":[33],"This":[34],"results":[35,123],"bulky":[37],"and":[38,44,113,128,176,180],"large":[39],"which":[41,57],"are":[42],"cumbersome":[43],"restrictive.":[45],"C-":[46],"ALEX":[47],"is":[48,146,165],"exoskeleton":[51,78],"without":[52],"structure":[56],"has":[58],"been":[59],"used":[60],"gait":[62],"training":[63],"on":[64,94,108,181],"treadmill.":[66,183],"In":[67],"this":[68],"paper,":[69],"we":[70],"explore":[71],"feasibility":[73],"using":[75],"C-ALEX":[77,82,145],"over-ground.":[79],"We":[80,90],"converted":[81],"into":[83],"carted":[85],"system":[86],"for":[87],"over-ground":[88,179],"use.":[89],"tested":[91],"architecture":[93],"eight":[95],"healthy":[96],"subjects":[97],"to":[98,148,171],"compare":[99],"controller's":[101],"RMS":[102,133],"joint":[103,111],"torque":[104,134],"errors,":[105],"effects":[107],"step":[109,151],"height,":[110,152],"angles":[112,175],"deviation":[115,177],"ankle":[117],"trajectories":[118],"from":[119],"target":[120],"trajectories.":[121],"The":[122],"show":[124],"that":[125],"C-ALEX's":[126,169],"controller":[127],"tension":[129],"planner":[130],"comparable":[132],"errors":[135],"with":[136,160],"no":[137,161],"difference":[139,167],"between":[140,168],"two":[142],"cases.":[144],"able":[147],"increase":[149],"affect":[153],"knee":[154],"flexion":[155,174],"both":[157],"walking":[158],"conditions":[159],"difference.":[163],"There":[164],"ability":[170],"control":[172],"hip":[173],"area":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}