{"id":"https://openalex.org/W1987983695","doi":"https://doi.org/10.1109/embc.2013.6610216","title":"The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking","display_name":"The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1987983695","doi":"https://doi.org/10.1109/embc.2013.6610216","mag":"1987983695","pmid":"https://pubmed.ncbi.nlm.nih.gov/24110403"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2013.6610216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6610216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5085496292","display_name":"Seungmoon Song","orcid":"https://orcid.org/0000-0002-4358-5948"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Seungmoon Song","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081725658","display_name":"Christopher LaMontagna","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher LaMontagna","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037382800","display_name":"Steven H. Collins","orcid":"https://orcid.org/0000-0002-3997-3374"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven H. Collins","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. Of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078844630","display_name":"Hartmut Geyer","orcid":"https://orcid.org/0000-0003-3238-3299"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hartmut Geyer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085496292"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.2321,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.78564986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2013","issue":null,"first_page":"3179","last_page":"3182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9990000128746033,"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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9990000128746033,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"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":0.9940999746322632,"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/mechanism","display_name":"Mechanism (biology)","score":0.7408323884010315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48619645833969116},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4755929708480835},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.47438743710517883},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46809887886047363},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.46559035778045654},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.45584291219711304},{"id":"https://openalex.org/keywords/energetics","display_name":"Energetics","score":0.4325666129589081},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27321940660476685},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20972925424575806},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1718093752861023},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15094518661499023},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1034899652004242},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.0699978768825531}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7408323884010315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48619645833969116},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4755929708480835},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.47438743710517883},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46809887886047363},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.46559035778045654},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.45584291219711304},{"id":"https://openalex.org/C97514900","wikidata":"https://www.wikidata.org/wiki/Q719597","display_name":"Energetics","level":2,"score":0.4325666129589081},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27321940660476685},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20972925424575806},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1718093752861023},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15094518661499023},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1034899652004242},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0699978768825531},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003187","descriptor_name":"Compliance","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2013.6610216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6610216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:24110403","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24110403","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.800.5522","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.800.5522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Ehgeyer/Publications/SongEA13aIEEE_EMBC.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W134781291","https://openalex.org/W1565024073","https://openalex.org/W1863093327","https://openalex.org/W1995837849","https://openalex.org/W1997635873","https://openalex.org/W2075213241","https://openalex.org/W2091117903","https://openalex.org/W2095661097","https://openalex.org/W2107183243","https://openalex.org/W2113412549","https://openalex.org/W2116277643","https://openalex.org/W2116951991","https://openalex.org/W2128532136","https://openalex.org/W2134208106","https://openalex.org/W2147809815","https://openalex.org/W2225412086","https://openalex.org/W6605509782","https://openalex.org/W7074088320"],"related_works":["https://openalex.org/W2912105044","https://openalex.org/W2611757152","https://openalex.org/W2008727479","https://openalex.org/W2550624415","https://openalex.org/W2360051520","https://openalex.org/W418534623","https://openalex.org/W2913527830","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393"],"abstract_inverted_index":{"The":[0,91,108],"human":[1,28],"foot,":[2],"which":[3,75],"is":[4,30,76],"the":[5,8,13,24,31,42,48,56,70,79,82,87,113,118,125,132,136,147],"part":[6],"of":[7,18,23,27,51,58,72,78,89,135],"body":[9],"that":[10,41,81,94,112,131],"interacts":[11],"with":[12,96,105],"environment":[14],"during":[15],"locomotion,":[16],"consists":[17],"rich":[19],"biomechanical":[20],"design.":[21],"One":[22],"unique":[25],"designs":[26],"feet":[29,98],"windlass":[32,43,83,119,137],"mechanism.":[33],"In":[34],"a":[35],"previous":[36],"simulation":[37,65],"study,":[38],"we":[39,61],"found":[40],"mechanism":[44,84,120,138],"seems":[45],"to":[46,142,145,154],"improve":[47],"energy":[49,114,133],"efficiency":[50],"walking.":[52,90],"To":[53],"better":[54],"understand":[55],"origin":[57],"this":[59],"efficiency,":[60],"here":[62],"conduct":[63],"both":[64],"and":[66],"experimental":[67],"studies":[68,92],"exploring":[69],"influence":[71],"foot":[73,149],"compliance,":[74],"one":[77],"functionalities":[80],"embeds,":[85],"on":[86],"energetics":[88],"show":[93],"walking":[95,104],"compliant":[97],"incurs":[99],"more":[100,141],"energetic":[101],"costs":[102],"than":[103,153],"stiff":[106],"feet.":[107],"preliminary":[109],"results":[110],"suggest":[111],"saved":[115],"by":[116],"introducing":[117],"does":[121],"not":[122],"originate":[123],"from":[124],"compliance":[126,156],"it":[127],"embeds.":[128],"We":[129],"speculate":[130],"savings":[134],"are":[139],"related":[140],"its":[143],"contribution":[144],"reducing":[146],"effective":[148],"length":[150],"in":[151,157],"swing":[152],"providing":[155],"stance.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
