{"id":"https://openalex.org/W2909023341","doi":"https://doi.org/10.1109/icarm.2018.8610718","title":"Lower Extremity Exoskeleton for Stair Climbing Augmentation","display_name":"Lower Extremity Exoskeleton for Stair Climbing Augmentation","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2909023341","doi":"https://doi.org/10.1109/icarm.2018.8610718","mag":"2909023341"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5103033847","display_name":"Zongwei Zhang","orcid":"https://orcid.org/0000-0002-9016-9891"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongwei Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056043882","display_name":"Tianjiao Zheng","orcid":"https://orcid.org/0000-0002-6878-6295"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjiao Zheng","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112896377","display_name":"Sikai Zhao","orcid":"https://orcid.org/0000-0002-1085-737X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sikai Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100546280","display_name":"Shun Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shun Ma","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102919459","display_name":"Jizhuang Fan","orcid":"https://orcid.org/0000-0002-4527-932X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jizhuang Fan","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.223,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.55039278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"762","last_page":"768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9936000108718872,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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":0.9178197383880615},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.7004932165145874},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.6835548281669617},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6488025784492493},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5636024475097656},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5055351257324219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45839226245880127},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4570302367210388},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45539113879203796},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.44672688841819763},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44108232855796814},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.421170711517334},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3651851415634155},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18316388130187988},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12374907732009888},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09954866766929626}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9178197383880615},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.7004932165145874},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.6835548281669617},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6488025784492493},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5636024475097656},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5055351257324219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45839226245880127},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4570302367210388},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45539113879203796},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.44672688841819763},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44108232855796814},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.421170711517334},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3651851415634155},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18316388130187988},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12374907732009888},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09954866766929626},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/icarm.2018.8610718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1655308120","https://openalex.org/W1956237300","https://openalex.org/W1976955131","https://openalex.org/W1984747563","https://openalex.org/W1994800753","https://openalex.org/W2002803749","https://openalex.org/W2015244452","https://openalex.org/W2029188366","https://openalex.org/W2035866398","https://openalex.org/W2042541291","https://openalex.org/W2062438344","https://openalex.org/W2102046115","https://openalex.org/W2115334118","https://openalex.org/W2123238432","https://openalex.org/W2128769851","https://openalex.org/W2128779738","https://openalex.org/W2138300314","https://openalex.org/W2167286584","https://openalex.org/W2169410184","https://openalex.org/W2289531024","https://openalex.org/W2593755310","https://openalex.org/W4211003818","https://openalex.org/W6659565261","https://openalex.org/W6661003015"],"related_works":["https://openalex.org/W2082442769","https://openalex.org/W2178596988","https://openalex.org/W2029973929","https://openalex.org/W2045255587","https://openalex.org/W4385234613","https://openalex.org/W3120644063","https://openalex.org/W2959914152","https://openalex.org/W3212437882","https://openalex.org/W2952802393","https://openalex.org/W2047426691"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,74,90],"light-weight":[4],"lower":[5],"extremity":[6],"exoskeleton":[7,125],"and":[8,62,85,110,118,126],"its":[9],"associated":[10],"control":[11,54,93,130],"method":[12,78,94,109],"to":[13,31,44,58,81,97],"augment":[14],"the":[15,28,33,60,69,83,106,114,120,123,127],"locomotion":[16],"for":[17,27,68],"climbing":[18,102,116],"stairs.":[19],"A":[20,36,51],"compact":[21],"slider":[22],"crank":[23],"mechanism":[24],"is":[25,42,56,79,95],"designed":[26,124],"knee":[29],"joint":[30,41],"offer":[32],"required":[34],"torque.":[35],"spring":[37],"based":[38],"quasi-passive":[39],"hip":[40],"adopted":[43],"compensate":[45],"gravity":[46,76,107],"force":[47,91],"of":[48,64,122],"lifting":[49],"leg.":[50],"hybrid":[52,129],"assistive":[53],"strategy":[55],"proposed":[57,128],"ensure":[59],"requirement":[61],"coordination":[63],"different":[65],"gait":[66],"phases":[67],"exoskeleton.":[70],"In":[71,87],"standing":[72],"phase,":[73,89],"direct":[75],"balancing":[77],"used":[80],"support":[82],"body":[84],"payload.":[86],"swing":[88],"tracking":[92],"utilized":[96],"enhance":[98,113],"leg":[99],"mobility.":[100],"Stair":[101],"tests":[103],"show":[104],"that":[105],"compensation":[108],"force-tracking":[111],"controller":[112],"stair":[115],"mobility,":[117],"demonstrate":[119],"feasibility":[121],"strategy.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}