{"id":"https://openalex.org/W2805541808","doi":"https://doi.org/10.1109/icra.2018.8460972","title":"Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground","display_name":"Autonomous Multi-Joint Soft Exosuit for Assistance with Walking Overground","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2805541808","doi":"https://doi.org/10.1109/icra.2018.8460972","mag":"2805541808"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sangjun Lee","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006218223","display_name":"Nikos Karavas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikos Karavas","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014345396","display_name":"Brenna T. Quinlivan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brenna T. Quinlivan","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026847076","display_name":"Danielle LouiseRyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Danielle LouiseRyan","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112342947","display_name":"David Perry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Perry","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085377458","display_name":"Asa Eckert\u2010Erdheim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Asa Eckert-Erdheim","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102857805","display_name":"Patrick Murphy","orcid":"https://orcid.org/0000-0002-9163-1953"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patrick Murphy","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043377590","display_name":"Taylor Greenberg Goldy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taylor Greenberg Goldy","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070582765","display_name":"Nicolas Menard","orcid":"https://orcid.org/0000-0003-1898-2068"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicolas Menard","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001569208","display_name":"Maria Athanassiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Maria Athanassiu","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jinsoo Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinsoo Kim","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063662731","display_name":"Giuk Lee","orcid":"https://orcid.org/0000-0001-9414-4475"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giuk Lee","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ignacio Galiana","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Conor J. Walsh","raw_affiliation_strings":["School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, MA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5100620527"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2313,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.92279925,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2812","last_page":"2819"},"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":0.9962000250816345,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9674000144004822,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.8194943070411682},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7881332039833069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922507047653198},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5680819153785706},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5399664640426636},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5077615976333618},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5010216236114502},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42779120802879333},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.35002076625823975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.201135516166687},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09625193476676941},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08443516492843628}],"concepts":[{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.8194943070411682},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7881332039833069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922507047653198},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5680819153785706},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5399664640426636},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5077615976333618},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5010216236114502},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42779120802879333},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.35002076625823975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.201135516166687},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09625193476676941},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08443516492843628},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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.2018.8460972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1670737740","https://openalex.org/W1991235214","https://openalex.org/W2015244452","https://openalex.org/W2058074226","https://openalex.org/W2100792856","https://openalex.org/W2109159655","https://openalex.org/W2168224345","https://openalex.org/W2169410184","https://openalex.org/W2287555228","https://openalex.org/W2344043336","https://openalex.org/W2347006312","https://openalex.org/W2399565053","https://openalex.org/W2416127396","https://openalex.org/W2528834575","https://openalex.org/W2576893463","https://openalex.org/W2621250940","https://openalex.org/W2700163520","https://openalex.org/W2737156933","https://openalex.org/W2742250168","https://openalex.org/W2768832805","https://openalex.org/W2788331089","https://openalex.org/W2883265178","https://openalex.org/W2890784218","https://openalex.org/W6704684298","https://openalex.org/W6728131477","https://openalex.org/W6740602307","https://openalex.org/W6742158014"],"related_works":["https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W3082879976","https://openalex.org/W4386159943","https://openalex.org/W2808226217","https://openalex.org/W2062010076","https://openalex.org/W2780323031","https://openalex.org/W2015794229","https://openalex.org/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Soft":[0],"exosuits":[1],"are":[2,78,101],"a":[3,26,108,116,124,200],"new":[4,27],"approach":[5],"for":[6,34,39,107],"assisting":[7],"with":[8,46,192],"human":[9,216],"locomotion,":[10],"which":[11,130],"applies":[12],"assistive":[13,73],"torques":[14],"to":[15,70,80,84,103,172,189,194,214],"the":[16,56,82,85,119,142,147,156,161,166,182,208],"wearer":[17],"through":[18],"functional":[19],"apparel.":[20],"In":[21,122,139],"this":[22,211],"paper,":[23],"we":[24],"present":[25],"version":[28],"of":[29,118,158,175,210],"autonomous":[30],"multi-joint":[31],"soft":[32,43,212],"exosuit":[33,44,213],"gait":[35],"assistance,":[36],"particularly":[37],"designed":[38],"overground":[40],"walking.":[41],"The":[42],"assists":[45],"ankle":[47,59],"plantarflexion,":[48],"hip":[49,52,62],"flexion,":[50],"and":[51,61,75,94,178],"extension,":[53],"equally":[54],"distributing":[55],"forces":[57,83],"between":[58],"plantarflexion":[60],"flexion.":[63],"A":[64,87],"mobile":[65],"actuation":[66],"system":[67],"was":[68,128],"developed":[69,129],"generate":[71],"high":[72],"forces,":[74],"Bowden":[76],"cables":[77],"used":[79,102],"transmit":[81],"exosuit.":[86],"sensor":[88],"harness":[89],"connects":[90],"two":[91],"load":[92],"cells":[93],"three":[95],"IMU":[96],"s":[97],"per":[98],"leg":[99],"that":[100,110],"measure":[104],"real-time":[105],"data":[106],"controller":[109],"commands":[111],"desired":[112],"force":[113,148,163,168,184],"profiles":[114],"as":[115],"function":[117],"walking":[120,135,151,206,220],"cycle.":[121],"addition,":[123],"control":[125,132],"adaptation":[126],"method":[127,144],"adjusts":[131],"parameters":[133],"while":[134,150,219],"on":[136,181,204],"irregular":[137],"surfaces.":[138],"preliminary":[140],"studies,":[141],"proposed":[143],"substantially":[145],"improved":[146],"consistency":[149],"over":[152],"uneven":[153],"terrain.":[154],"Specifically,":[155],"number":[157],"steps":[159],"where":[160],"peak":[162,183],"deviated":[164],"from":[165,170,186],"target":[167,197],"decreased":[169,185],"100":[171],"57":[173],"out":[174],"250":[176],"steps,":[177],"RMS":[179],"error":[180],"90.0":[187],"N":[188,191,196],"76.6":[190],"respect":[193],"300":[195],"force.":[198],"Also,":[199],"two-subject":[201],"case":[202],"study":[203],"country-course":[205],"demonstrated":[207],"potential":[209],"improve":[215],"energy":[217],"economy":[218],"overground.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}