{"id":"https://openalex.org/W2738041281","doi":"https://doi.org/10.1109/icra.2017.7989790","title":"A cable-based series elastic actuator with conduit sensor for wearable exoskeletons","display_name":"A cable-based series elastic actuator with conduit sensor for wearable exoskeletons","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738041281","doi":"https://doi.org/10.1109/icra.2017.7989790","mag":"2738041281"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989790","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":true,"oa_status":"green","oa_url":"https://scholarship.rice.edu/handle/1911/99246","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034706353","display_name":"Laura H. Blumenschein","orcid":"https://orcid.org/0000-0003-0658-5364"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura H. Blumenschein","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","Mechatronics and Haptic Interfaces Laboratory at Rice"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Mechatronics and Haptic Interfaces Laboratory at Rice","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023649559","display_name":"Craig G. McDonald","orcid":"https://orcid.org/0000-0001-9355-2645"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Craig G. McDonald","raw_affiliation_strings":["Department of Mechanical Engineering, Rice University, Houston, TX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Rice University, Houston, TX","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055353705","display_name":"Marcia K. O\u2019Malley","orcid":"https://orcid.org/0000-0002-3563-1051"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcia K. O'Malley","raw_affiliation_strings":["Department of Mechanical Engineering, Rice University, Houston, TX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Rice University, Houston, TX","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9814000129699707,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9724000096321106,"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/exoskeleton","display_name":"Exoskeleton","score":0.8382340669631958},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8335571885108948},{"id":"https://openalex.org/keywords/electrical-conduit","display_name":"Electrical conduit","score":0.7564382553100586},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6175153255462646},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5820723176002502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5096793174743652},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.18475741147994995},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17974728345870972},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1365261673927307},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.11797723174095154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07138630747795105}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8382340669631958},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8335571885108948},{"id":"https://openalex.org/C89836073","wikidata":"https://www.wikidata.org/wiki/Q1719631","display_name":"Electrical conduit","level":2,"score":0.7564382553100586},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6175153255462646},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5820723176002502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5096793174743652},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.18475741147994995},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17974728345870972},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1365261673927307},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.11797723174095154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07138630747795105},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2017.7989790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989790","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"},{"id":"pmh:oai:scholarship.rice.edu:1911/99246","is_oa":true,"landing_page_url":"https://scholarship.rice.edu/handle/1911/99246","pdf_url":null,"source":{"id":"https://openalex.org/S4306400220","display_name":"Rice University's digital scholarship archive (Rice University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74775410","host_organization_name":"Rice University","host_organization_lineage":["https://openalex.org/I74775410"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":{"id":"pmh:oai:scholarship.rice.edu:1911/99246","is_oa":true,"landing_page_url":"https://scholarship.rice.edu/handle/1911/99246","pdf_url":null,"source":{"id":"https://openalex.org/S4306400220","display_name":"Rice University's digital scholarship archive (Rice University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74775410","host_organization_name":"Rice University","host_organization_lineage":["https://openalex.org/I74775410"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1521257674","https://openalex.org/W1633785340","https://openalex.org/W1646540425","https://openalex.org/W1966601742","https://openalex.org/W1966609977","https://openalex.org/W1988273910","https://openalex.org/W2002161214","https://openalex.org/W2003176730","https://openalex.org/W2054628872","https://openalex.org/W2074541923","https://openalex.org/W2092227749","https://openalex.org/W2111253117","https://openalex.org/W2119779012","https://openalex.org/W2128428510","https://openalex.org/W2133076227","https://openalex.org/W2144232362","https://openalex.org/W2154630542","https://openalex.org/W2161100229","https://openalex.org/W2165506721","https://openalex.org/W2168224345","https://openalex.org/W2169410184","https://openalex.org/W2170147781","https://openalex.org/W2287555228","https://openalex.org/W2294251513","https://openalex.org/W2339165105","https://openalex.org/W2347006312","https://openalex.org/W3014646291","https://openalex.org/W7065399140"],"related_works":["https://openalex.org/W2435707750","https://openalex.org/W2385261142","https://openalex.org/W2901258812","https://openalex.org/W2353435810","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2354004898","https://openalex.org/W2557545276"],"abstract_inverted_index":{"There":[0],"is":[1,119,131,163],"currently":[2],"a":[3,16,59,70,75,81,101,107,172,193],"scarcity":[4],"of":[5,18,48,100,109,125,151,174,187],"wearable":[6,23,195],"robotic":[7],"devices":[8],"that":[9,52,133],"can":[10,135],"practically":[11],"provide":[12],"physical":[13],"assistance":[14],"in":[15,58,88,138],"range":[17,173],"real":[19],"world":[20],"activities.":[21],"Soft":[22],"exoskeletons,":[24],"or":[25],"exosuits,":[26],"have":[27],"the":[28,46,63,91,94,142,152,156,160,167,178,185],"potential":[29],"to":[30,140,177],"be":[31,136],"more":[32],"portable":[33],"and":[34,73,80,129],"less":[35],"restrictive":[36],"than":[37],"their":[38],"rigid":[39],"counterparts.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44],"present":[45],"design":[47,68],"an":[49,122,189],"actuation":[50,190],"system":[51,168,191],"has":[53],"been":[54],"optimized":[55],"for":[56,62,113,184],"use":[57],"soft":[60],"exosuit":[61],"human":[64],"arm.":[65],"The":[66,116,148],"selected":[67],"comprises":[69],"DC":[71],"motor":[72],"gearbox,":[74],"flexible":[76],"cable":[77,127,143],"conduit":[78],"transmission,":[79],"custom":[82,95,117],"series":[83,89],"elastic":[84],"force":[85,97,157],"sensor.":[86],"Placed":[87],"with":[90,106,145,182],"transmission":[92,154],"conduit,":[93],"compliant":[96],"sensor":[98,118],"consists":[99],"translational":[102],"steel":[103],"compression":[104],"spring":[105],"pair":[108],"Hall":[110],"effect":[111,150],"sensors":[112],"measuring":[114,126],"deflection.":[115],"validated":[120],"as":[121,169],"accurate":[123],"means":[124],"tension,":[128],"it":[130,134,170],"shown":[132],"used":[137],"feedback":[139],"control":[141],"tension":[144],"high":[146],"bandwidth.":[147],"dynamic":[149],"cable-conduit":[153],"on":[155],"felt":[158],"at":[159],"user":[161],"interface":[162],"characterized":[164],"by":[165],"backdriving":[166],"renders":[171],"virtual":[175],"impedances":[176],"user.":[179],"We":[180],"conclude":[181],"recommendations":[183],"integration":[186],"such":[188],"into":[192],"full":[194],"exosuit.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
