{"id":"https://openalex.org/W2964903495","doi":"https://doi.org/10.1109/icorr.2019.8779398","title":"A Human-assistive Robotic Platform with Quadrupedal Locomotion","display_name":"A Human-assistive Robotic Platform with Quadrupedal Locomotion","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2964903495","doi":"https://doi.org/10.1109/icorr.2019.8779398","mag":"2964903495","pmid":"https://pubmed.ncbi.nlm.nih.gov/31374647"},"language":"en","primary_location":{"id":"doi:10.1109/icorr.2019.8779398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6907732","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050429616","display_name":"Tao Shen","orcid":"https://orcid.org/0000-0001-9177-6530"},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]},{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tao Shen","raw_affiliation_strings":["College of Aeronautics and Engineering in Kent State University, Kent, OH, USA"],"affiliations":[{"raw_affiliation_string":"College of Aeronautics and Engineering in Kent State University, Kent, OH, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052817561","display_name":"Md Rayhan Afsar","orcid":null},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Md Rayhan Afsar","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, USA","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060359157","display_name":"Md Rejwanul Haque","orcid":"https://orcid.org/0000-0002-5212-8538"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Md Rejwanul Haque","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, SLC, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, SLC, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001245363","display_name":"Eric W. McClain","orcid":"https://orcid.org/0000-0002-6481-1107"},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]},{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric McClain","raw_affiliation_strings":["College of Aeronautics and Engineering in Kent State University, Kent, OH, USA"],"affiliations":[{"raw_affiliation_string":"College of Aeronautics and Engineering in Kent State University, Kent, OH, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011066220","display_name":"Sanford G. Meek","orcid":null},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanford Meek","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, USA","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101636783","display_name":"Xiangrong Shen","orcid":"https://orcid.org/0000-0001-8984-3861"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiangrong Shen","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, SLC, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, SLC, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050429616"],"corresponding_institution_ids":["https://openalex.org/I13805885","https://openalex.org/I149910238"],"apc_list":null,"apc_paid":null,"fwci":0.3987,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59558679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"37","issue":null,"first_page":"305","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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":0.9868000149726868,"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/stairs","display_name":"Stairs","score":0.7854862213134766},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6355730295181274},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5961773991584778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5416619777679443},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5258974432945251},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4749472439289093},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.4584997594356537},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4209057092666626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3349360525608063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20617684721946716},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.200546532869339}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.7854862213134766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6355730295181274},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5961773991584778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5416619777679443},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5258974432945251},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4749472439289093},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.4584997594356537},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4209057092666626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3349360525608063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20617684721946716},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.200546532869339},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000368","descriptor_name":"Aged","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000368","descriptor_name":"Aged","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000368","descriptor_name":"Aged","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"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":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/icorr.2019.8779398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icorr.2019.8779398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","raw_type":"proceedings-article"},{"id":"pmid:31374647","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31374647","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":"IEEE ... International Conference on Rehabilitation Robotics : [proceedings]","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:6907732","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6907732","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Rehabil Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:6907732","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6907732","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Int Conf Rehabil Robot","raw_type":"Text"},"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1898706479","display_name":null,"funder_award_id":"R01 NR016151","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W586349601","https://openalex.org/W1527202583","https://openalex.org/W1964777610","https://openalex.org/W1966775692","https://openalex.org/W1986148405","https://openalex.org/W1992491816","https://openalex.org/W2070071650","https://openalex.org/W2079224419","https://openalex.org/W2092461223","https://openalex.org/W2102653827","https://openalex.org/W2113718780","https://openalex.org/W2121520311","https://openalex.org/W2140855073","https://openalex.org/W2151148668","https://openalex.org/W2171073614","https://openalex.org/W2171274361","https://openalex.org/W2294716601","https://openalex.org/W2345704761","https://openalex.org/W2461085966","https://openalex.org/W2756106494","https://openalex.org/W2781980584","https://openalex.org/W2901953487","https://openalex.org/W2909122702","https://openalex.org/W6631446597","https://openalex.org/W6718394423"],"related_works":["https://openalex.org/W2178596988","https://openalex.org/W2045255587","https://openalex.org/W4385234613","https://openalex.org/W3120644063","https://openalex.org/W2952802393","https://openalex.org/W2615532210","https://openalex.org/W2101570062","https://openalex.org/W2093519057","https://openalex.org/W1992956164","https://openalex.org/W2320806325"],"abstract_inverted_index":{"Mobility":[0],"impairment":[1],"is":[2,107,163],"becoming":[3],"a":[4,11,73,110,167,177,193],"challenging":[5,141],"issue":[6],"around":[7],"the":[8,36,40,51,56,59,83,89,92,104,116,134,152,156,171,175,184,198,203],"world":[9],"with":[10,77,109],"rapid":[12],"increase":[13,32],"on":[14,35],"aging":[15],"population.":[16],"Existing":[17],"tools":[18],"of":[19,58,155,202],"walking":[20,42,99,179,207],"assistance":[21,100],"for":[22,170,206],"mobility-impaired":[23,70],"people":[24,71],"include":[25],"passive":[26],"canes":[27],"or":[28],"wheeled":[29,46],"rollators":[30],"which":[31,48,196],"energy":[33],"consumption":[34],"users":[37],"and":[38,44,54,94,97,126,183,200],"disturb":[39],"users'":[41],"rhythm,":[43],"powered":[45],"chairs":[47],"could":[49,87],"preclude":[50],"muscle":[52],"activities":[53],"accelerate":[55],"degeneration":[57],"lower":[60],"limbs.":[61],"The":[62],"research":[63],"in":[64,138],"this":[65,148],"paper":[66],"aiming":[67],"at":[68,91],"helping":[69],"proposes":[72],"novel":[74],"robotic":[75,85,105,157,189,204],"platform":[76,86,106,190],"quadrupedal":[78],"locomotion.":[79],"With":[80],"motorized":[81],"actuation,":[82],"quadruped":[84,188],"accompany":[88],"user":[90,135],"center":[93],"provide":[95],"protection":[96],"possible":[98],"if":[101],"needed.":[102],"As":[103],"equipped":[108],"leg":[111],"locomotion,":[112],"it":[113],"can":[114,131,191],"enlarge":[115],"user's":[117],"activity":[118],"environments,":[119],"such":[120,143],"as":[121,144],"both":[122],"indoor":[123],"flat":[124],"floor":[125],"outdoor":[127],"uneven":[128],"terrain.":[129],"It":[130],"even":[132],"assist":[133],"to":[136,165],"involve":[137],"some":[139],"mobility":[140],"activities,":[142],"climbing":[145],"stairs.":[146],"In":[147],"paper,":[149],"we":[150],"illustrate":[151],"mechanical":[153],"design":[154],"platform.":[158],"A":[159],"continuous":[160],"gait":[161],"planning":[162],"proposed":[164],"create":[166],"smooth":[168],"locomotion":[169],"robot.":[172],"To":[173],"quantify":[174],"performance,":[176],"system-level":[178],"experimentation":[180],"was":[181],"conducted,":[182],"results":[185],"showed":[186],"that":[187],"maintain":[192],"statically":[194],"stability":[195],"demonstrate":[197],"feasibility":[199],"capability":[201],"application":[205],"assistance.":[208]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2019-08-13T00:00:00"}
