{"id":"https://openalex.org/W1670737740","doi":"https://doi.org/10.1109/icra.2015.7140069","title":"Multi-joint soft exosuit for gait assistance","display_name":"Multi-joint soft exosuit for gait assistance","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1670737740","doi":"https://doi.org/10.1109/icra.2015.7140069","mag":"1670737740"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5018289474","display_name":"Alan T. Asbeck","orcid":"https://orcid.org/0000-0002-5589-7797"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan T. Asbeck","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082138818","display_name":"Kai Schmidt","orcid":"https://orcid.org/0000-0002-3493-9062"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kai Schmidt","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036582859","display_name":"Ignacio Galiana","orcid":"https://orcid.org/0000-0002-5571-1550"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ignacio Galiana","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060470536","display_name":"Diana Wagner","orcid":"https://orcid.org/0009-0000-3742-0031"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diana Wagner","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028193094","display_name":"Conor J. Walsh","orcid":"https://orcid.org/0000-0002-2744-917X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Conor J. Walsh","raw_affiliation_strings":["Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, School of Engineering and Applied Sciences, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"The Wyss Institute for Biologically Inspired Engineering, Cambridge, MA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":7.8166,"has_fulltext":false,"cited_by_count":118,"citation_normalized_percentile":{"value":0.9793974,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6197","last_page":"6204"},"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":0.9922000169754028,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9519000053405762,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.7422876358032227},{"id":"https://openalex.org/keywords/cadence","display_name":"Cadence","score":0.655448853969574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6377876996994019},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6166856288909912},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5986728668212891},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5896381139755249},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5528280735015869},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.529836893081665},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.49364030361175537},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40918299555778503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23842495679855347},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20387062430381775},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.19699826836585999},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14025089144706726}],"concepts":[{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.7422876358032227},{"id":"https://openalex.org/C2777125575","wikidata":"https://www.wikidata.org/wiki/Q14088448","display_name":"Cadence","level":2,"score":0.655448853969574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377876996994019},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6166856288909912},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5986728668212891},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5896381139755249},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5528280735015869},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.529836893081665},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.49364030361175537},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40918299555778503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23842495679855347},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20387062430381775},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.19699826836585999},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14025089144706726},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1966260448","https://openalex.org/W1977929578","https://openalex.org/W2013771067","https://openalex.org/W2015244452","https://openalex.org/W2034579881","https://openalex.org/W2034922363","https://openalex.org/W2043137231","https://openalex.org/W2045943176","https://openalex.org/W2055206324","https://openalex.org/W2055823008","https://openalex.org/W2059790460","https://openalex.org/W2064924211","https://openalex.org/W2066751209","https://openalex.org/W2072214239","https://openalex.org/W2074563816","https://openalex.org/W2112742938","https://openalex.org/W2144028337","https://openalex.org/W2144781570","https://openalex.org/W2154128597","https://openalex.org/W2154630542","https://openalex.org/W2164056806","https://openalex.org/W2165386045","https://openalex.org/W2168224345","https://openalex.org/W2169410184","https://openalex.org/W2316367032","https://openalex.org/W2330334953","https://openalex.org/W2593846044","https://openalex.org/W6682733194"],"related_works":["https://openalex.org/W2953508068","https://openalex.org/W2097954104","https://openalex.org/W2802976237","https://openalex.org/W2087026446","https://openalex.org/W4210601529","https://openalex.org/W2150212084","https://openalex.org/W4247927490","https://openalex.org/W2422104739","https://openalex.org/W98595376","https://openalex.org/W2144747704"],"abstract_inverted_index":{"Exosuits":[0],"represent":[1],"a":[2,32,47,55,108,156,162,175,220],"new":[3,109],"approach":[4,111],"for":[5],"applying":[6],"assistive":[7],"forces":[8,22,69],"to":[9,15,17,63,84,141,172,178,208],"an":[10,151],"individual,":[11],"using":[12],"soft":[13,35,105],"textiles":[14],"interface":[16],"the":[18,73,91,96,120,131,143,159,166,183,190,203,209],"wearer":[19,210],"and":[20,43,51,77,88,98,127,161,169,218],"transmit":[21],"through":[23,46,54],"specified":[24],"load":[25,49,57,75,122,134,163],"paths.":[26],"In":[27],"this":[28],"paper":[29],"we":[30],"present":[31],"body-worn,":[33],"multi-joint":[34,104],"exosuit":[36,67,106],"that":[37,112,153,202],"assists":[38],"both":[39,125,137],"ankle":[40,97],"plantar":[41],"flexion":[42,45],"hip":[44,52,80,99,132],"multiarticular":[48,74,121],"path,":[50,58],"extension":[53,133],"separate":[56],"at":[59,95,158],"walking":[60,194],"speeds":[61],"up":[62],"1.79m/s":[64],"(4.0mph).":[65],"The":[66,103,213],"applies":[68],"of":[70,86,90,222],"300N":[71],"in":[72,79,139,180,189],"path":[76],"150N":[78],"extension,":[81],"which":[82],"correspond":[83],"torques":[85],"21%":[87],"19%":[89],"nominal":[92],"biological":[93],"moments":[94],"during":[100,192],"unloaded":[101],"walking.":[102],"uses":[107,154],"actuation":[110],"exploits":[113],"joint":[114],"synergies,":[115],"with":[116],"one":[117,128],"motor":[118,129],"actuating":[119,130],"paths":[123,135],"on":[124,136],"legs":[126],"legs,":[138],"order":[140],"reduce":[142],"total":[144],"system":[145,204,215],"weight.":[146],"Control":[147],"is":[148,170],"accomplished":[149],"by":[150],"algorithm":[152,185],"only":[155],"gyroscope":[157],"heel":[160],"cell":[164],"monitoring":[165],"suit":[167,191],"tension,":[168],"shown":[171],"adapt":[173],"within":[174],"single":[176],"step":[177],"changes":[179],"cadence.":[181],"Additionally,":[182],"control":[184],"can":[186,205],"create":[187],"slack":[188],"non-level-ground":[193],"motions":[195],"such":[196],"as":[197],"stepping":[198],"over":[199],"obstacles":[200],"so":[201],"be":[206],"transparent":[207],"when":[211],"required.":[212],"resulting":[214],"consumes":[216],"137W,":[217],"has":[219],"mass":[221],"6.5kg":[223],"including":[224],"batteries.":[225]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":3}],"updated_date":"2026-06-30T13:55:48.251075","created_date":"2025-10-10T00:00:00"}