{"id":"https://openalex.org/W2399565053","doi":"https://doi.org/10.1109/icra.2016.7487531","title":"Controlling negative and positive power at the ankle with a soft exosuit","display_name":"Controlling negative and positive power at the ankle with a soft exosuit","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2399565053","doi":"https://doi.org/10.1109/icra.2016.7487531","mag":"2399565053"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5100620527","display_name":"Sang\u2010Jun Lee","orcid":"https://orcid.org/0000-0002-8199-3993"},"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":true,"raw_author_name":"Sangjun Lee","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008055713","display_name":"Simona Crea","orcid":"https://orcid.org/0000-0001-9833-4401"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simona Crea","raw_affiliation_strings":["BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, PI, Italy"],"affiliations":[{"raw_affiliation_string":"BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, PI, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075258137","display_name":"Philippe Malcolm","orcid":"https://orcid.org/0000-0003-4110-4167"},"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":"Philippe Malcolm","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"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":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018289474","display_name":"Alan T. Asbeck","orcid":"https://orcid.org/0000-0002-5589-7797"},"institutions":[{"id":"https://openalex.org/I11786554","display_name":"Virginia State University","ror":"https://ror.org/04esvpn06","country_code":"US","type":"education","lineage":["https://openalex.org/I11786554"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Asbeck","raw_affiliation_strings":["Department of Mechanical Engineering, State University, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, State University, VA, USA","institution_ids":["https://openalex.org/I11786554"]}]},{"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 Walsh","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Sciences, Harvard University, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100620527"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":4.9573,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.95530019,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3509","last_page":"3515"},"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":0.9955999851226807,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9850999712944031,"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/ankle","display_name":"Ankle","score":0.8104734420776367},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.7739900350570679},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7267423868179321},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6296854019165039},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5899357795715332},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.49933552742004395},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.480885773897171},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3720013499259949},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33406543731689453},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2975704073905945},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28629451990127563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21343159675598145},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11565378308296204},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08365848660469055}],"concepts":[{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.8104734420776367},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.7739900350570679},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7267423868179321},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6296854019165039},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5899357795715332},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.49933552742004395},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.480885773897171},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3720013499259949},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33406543731689453},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2975704073905945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28629451990127563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21343159675598145},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11565378308296204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08365848660469055},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/514515","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/514515","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1633785340","https://openalex.org/W1670737740","https://openalex.org/W1968048475","https://openalex.org/W1991235214","https://openalex.org/W2024712073","https://openalex.org/W2035866398","https://openalex.org/W2043137231","https://openalex.org/W2055206324","https://openalex.org/W2055823008","https://openalex.org/W2058074226","https://openalex.org/W2070825536","https://openalex.org/W2100030191","https://openalex.org/W2100792856","https://openalex.org/W2109159655","https://openalex.org/W2114313344","https://openalex.org/W2120000215","https://openalex.org/W2163531103","https://openalex.org/W2168224345","https://openalex.org/W2169410184","https://openalex.org/W2236853351","https://openalex.org/W2244350446","https://openalex.org/W2344043336","https://openalex.org/W6690599329","https://openalex.org/W6941233758"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W4388283394","https://openalex.org/W2120000215","https://openalex.org/W2062010076"],"abstract_inverted_index":{"The":[0,57],"soft":[1,31],"exosuit":[2,32,58],"is":[3,47,143],"a":[4,28,34,111],"new":[5,35],"approach":[6,37,173],"for":[7],"applying":[8],"assistive":[9],"forces":[10,76],"over":[11],"the":[12,20,42,55,72,78,81,102,108,117,121,129,132,141,147,153,167,170,178],"wearer's":[13,122],"body":[14],"through":[15],"load":[16,63,87],"paths":[17,64],"configured":[18],"by":[19,124],"textile":[21],"architecture.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26],"present":[27],"body-worn":[29],"lower-extremity":[30],"and":[33,51,68,71,89,101,131],"control":[36,41,106,172],"that":[38,46,140],"can":[39],"independently":[40],"level":[43],"of":[44,107,145,149,169],"assistance":[45],"provided":[48],"during":[49,180],"negative-":[50],"positive-power":[52],"periods":[53],"at":[54],"ankle.":[56],"was":[59],"designed":[60],"to":[61,80,97,116,120,152,174,177],"create":[62],"assisting":[65],"ankle":[66,123,154],"plantarflexion":[67],"hip":[69],"flexion,":[70],"actuation":[73],"system":[74],"transmits":[75],"from":[77],"motors":[79],"suit":[82],"via":[83],"Bowden":[84],"cables.":[85],"A":[86],"cell":[88],"two":[90,126],"gyro":[91],"sensors":[92],"per":[93],"leg":[94],"are":[95],"used":[96],"measure":[98],"real-time":[99],"data,":[100],"controller":[103,142],"performs":[104],"position":[105],"cable":[109],"on":[110],"step-by-step":[112],"basis":[113],"with":[114],"respect":[115],"power":[118,150],"delivered":[119,151],"controlling":[125],"force":[127],"parameters,":[128],"pretension":[130],"active":[133],"force.":[134],"Human":[135],"subjects":[136],"testing":[137],"results":[138],"demonstrate":[139],"capable":[144],"modulating":[146],"amount":[148],"joint.":[155],"Also,":[156],"significant":[157],"reductions":[158],"in":[159],"metabolic":[160],"rate":[161],"(11%-15%)":[162],"were":[163],"observed,":[164],"which":[165],"indicates":[166],"potential":[168],"proposed":[171],"provide":[175],"benefit":[176],"wearer":[179],"walking.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}