{"id":"https://openalex.org/W2104212135","doi":"https://doi.org/10.1109/icra.2014.6906601","title":"Bracing the human body with supernumerary Robotic Limbs for physical assistance and load reduction","display_name":"Bracing the human body with supernumerary Robotic Limbs for physical assistance and load reduction","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2104212135","doi":"https://doi.org/10.1109/icra.2014.6906601","mag":"2104212135"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5011191325","display_name":"Federico Parietti","orcid":"https://orcid.org/0000-0003-1693-5217"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Federico Parietti","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006166783","display_name":"Kameron C. Chan","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kameron Chan","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Harry Asada","raw_affiliation_strings":["Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":12.0101,"has_fulltext":false,"cited_by_count":101,"citation_normalized_percentile":{"value":0.99237875,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"141","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9639000296592712,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9510999917984009,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/supernumerary","display_name":"Supernumerary","score":0.7245786190032959},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.6769042015075684},{"id":"https://openalex.org/keywords/bracing","display_name":"Bracing","score":0.6221217513084412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.522919774055481},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3369220495223999},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3204604983329773},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.19826966524124146},{"id":"https://openalex.org/keywords/brace","display_name":"Brace","score":0.19725081324577332},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.18471595644950867},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.15091970562934875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0883621871471405}],"concepts":[{"id":"https://openalex.org/C2780610479","wikidata":"https://www.wikidata.org/wiki/Q7644068","display_name":"Supernumerary","level":2,"score":0.7245786190032959},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6769042015075684},{"id":"https://openalex.org/C2777905996","wikidata":"https://www.wikidata.org/wiki/Q32500556","display_name":"Bracing","level":3,"score":0.6221217513084412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.522919774055481},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3369220495223999},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3204604983329773},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.19826966524124146},{"id":"https://openalex.org/C2779793219","wikidata":"https://www.wikidata.org/wiki/Q2662870","display_name":"Brace","level":2,"score":0.19725081324577332},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.18471595644950867},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.15091970562934875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0883621871471405},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6906601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2043144176","https://openalex.org/W2071850119","https://openalex.org/W2086213654","https://openalex.org/W2141163906","https://openalex.org/W2147288676","https://openalex.org/W2161236319","https://openalex.org/W2888675321"],"related_works":["https://openalex.org/W2790704121","https://openalex.org/W3003393730","https://openalex.org/W2785532122","https://openalex.org/W4319054572","https://openalex.org/W4394745345","https://openalex.org/W3153628515","https://openalex.org/W2375365361","https://openalex.org/W4307821227","https://openalex.org/W2745803875","https://openalex.org/W4400386268"],"abstract_inverted_index":{"A":[0],"new":[1],"approach":[2],"to":[3,19,51,58,72,126],"physically":[4],"assisting":[5],"the":[6,20,24,28,40,52,62,65,74,82,94,99,110,128,139,142,145],"human":[7,21,29,53,63,100,129],"with":[8,61,89],"a":[9,43,79,86,106,136],"wearable":[10],"robot":[11],"is":[12,30,102],"presented.":[13],"Supernumerary":[14],"Robotic":[15],"Limbs":[16],"(SRLs)":[17],"attached":[18,50],"waist":[22],"support":[23],"body":[25,101],"efficiently":[26],"when":[27],"taking":[31],"fatiguing":[32],"postures,":[33],"e.g.":[34],"hunching":[35],"over,":[36],"squatting,":[37],"or":[38],"reaching":[39],"ceiling.":[41],"Unlike":[42],"leg":[44],"exoskeleton,":[45],"where":[46],"powered":[47],"joints":[48,54],"are":[49,56,121],"and":[55,118,132],"constrained":[57],"move":[59],"together":[60],"limb,":[64],"SRL":[66,83,116,140],"can":[67,84],"take":[68],"an":[69],"arbitrary":[70],"posture":[71,117],"maximize":[73],"load":[75,88,111],"bearing":[76,112],"efficiency.":[77,113],"Taking":[78],"near-singular":[80],"configuration,":[81],"bear":[85],"large":[87],"small":[90],"power":[91],"consumption.":[92],"First,":[93],"\u201cbracing\u201d":[95],"strategy":[96],"for":[97],"supporting":[98],"described,":[103],"followed":[104],"by":[105],"mathematical":[107],"analysis":[108],"of":[109,138,144],"The":[114],"optimal":[115],"joint":[119],"torques":[120],"then":[122],"obtained":[123],"in":[124],"order":[125],"minimize":[127],"load.":[130],"Numerical":[131],"experimental":[133],"results":[134],"using":[135],"prototype":[137],"demonstrate":[141],"effectiveness":[143],"method.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}