{"id":"https://openalex.org/W2739111177","doi":"https://doi.org/10.1109/icra.2017.7989210","title":"Effects of exoskeleton weight and inertia on human walking","display_name":"Effects of exoskeleton weight and inertia on human walking","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739111177","doi":"https://doi.org/10.1109/icra.2017.7989210","mag":"2739111177"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5088798272","display_name":"Xin Jin","orcid":"https://orcid.org/0000-0002-9797-2003"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Jin","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024301591","display_name":"Yusheng Cai","orcid":"https://orcid.org/0009-0007-9363-0501"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yusheng Cai","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079229432","display_name":"Antonio Prado","orcid":"https://orcid.org/0000-0003-2624-0136"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Prado","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K. Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":4.0374,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.94197603,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1772","last_page":"1777"},"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":0.9965999722480774,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"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":0.9730583429336548},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6441147327423096},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.624291718006134},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.48758023977279663},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.47088274359703064},{"id":"https://openalex.org/keywords/body-weight","display_name":"Body weight","score":0.44360464811325073},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37409934401512146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3071286678314209},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2081204652786255},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15691986680030823}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9730583429336548},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6441147327423096},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.624291718006134},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.48758023977279663},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.47088274359703064},{"id":"https://openalex.org/C147583825","wikidata":"https://www.wikidata.org/wiki/Q620876","display_name":"Body weight","level":2,"score":0.44360464811325073},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37409934401512146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3071286678314209},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2081204652786255},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15691986680030823},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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":28,"referenced_works":["https://openalex.org/W1536806151","https://openalex.org/W1661565128","https://openalex.org/W1982320228","https://openalex.org/W2008414438","https://openalex.org/W2030978043","https://openalex.org/W2046998465","https://openalex.org/W2047688129","https://openalex.org/W2054793620","https://openalex.org/W2063617169","https://openalex.org/W2072395926","https://openalex.org/W2093720022","https://openalex.org/W2100495401","https://openalex.org/W2105794428","https://openalex.org/W2121544865","https://openalex.org/W2125374306","https://openalex.org/W2126906108","https://openalex.org/W2133786537","https://openalex.org/W2139674081","https://openalex.org/W2149762511","https://openalex.org/W2150539243","https://openalex.org/W2152901444","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2168224345","https://openalex.org/W2169609017","https://openalex.org/W2201563498","https://openalex.org/W2290386444","https://openalex.org/W2311427518"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W2591464318"],"abstract_inverted_index":{"Various":[0],"leg":[1,42],"exoskeletons":[2,13],"have":[3],"been":[4],"designed":[5],"for":[6,110,160,171],"gait":[7,20,198],"rehabilitation.":[8],"The":[9,22,117,166],"transparency":[10],"of":[11,26,49,55,64,75,96,113,190,199],"these":[12],"is":[14,158],"crucial":[15],"to":[16,51,78,179],"their":[17],"effectiveness":[18],"in":[19,70,163],"training.":[21],"weight":[23,57,112,136,172],"and":[24,58,88,92,105,130,141],"inertia":[25,59,157],"an":[27],"exoskeleton":[28,43,56,122,180,192],"are":[29],"two":[30],"important":[31],"factors":[32],"affecting":[33],"its":[34],"transparency.":[35],"In":[36],"this":[37],"study,":[38],"using":[39],"a":[40,47],"light-weight":[41],"C-ALEX,":[44,101,104],"we":[45],"conducted":[46],"series":[48],"experiments":[50],"explore":[52],"the":[53,61,79,111,114,138,142,149,156,161,176,183,187,191,196,200],"effect":[54],"on":[60],"natural":[62,197],"walking":[63],"twelve":[65],"healthy":[66],"subjects.":[67,201],"They":[68],"walked":[69],"C-ALEX":[71,108],"under":[72],"three":[73,93],"levels":[74],"mass":[76,123,189],"added":[77,83,115],"leg:":[80],"(i)":[81,98],"no":[82],"mass,":[84],"(ii)":[85,102],"1.8":[86],"kg,":[87,91],"(iii)":[89,106],"3.6":[90],"different":[94],"setups":[95],"C-ALEX:":[97],"freewalking":[99],"without":[100],"with":[103,107],"compensating":[109,170],"mass.":[116,181],"result":[118],"shows":[119],"that":[120,155,169],"increasing":[121],"increases":[124],"step":[125,128,139,150,164],"length,":[126],"decreases":[127],"height,":[129,140],"reduces":[131],"maximum":[132,143],"knee":[133,144],"flexion.":[134],"After":[135],"compensation,":[137],"flexion":[145],"partially":[146],"restored,":[147],"but":[148],"length":[151],"did":[152],"not,":[153],"implying":[154],"responsible":[159],"change":[162],"length.":[165],"study":[167],"demonstrates":[168],"alone":[173],"cannot":[174],"eliminate":[175],"changes":[177],"due":[178],"On":[182],"other":[184],"hand,":[185],"reducing":[186],"overall":[188],"can":[193],"better":[194],"preserve":[195]},"counts_by_year":[{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}