{"id":"https://openalex.org/W2013504885","doi":"https://doi.org/10.1109/iros.2005.1545453","title":"On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)","display_name":"On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2013504885","doi":"https://doi.org/10.1109/iros.2005.1545453","mag":"2013504885"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5006659054","display_name":"Adam Zoss","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Zoss","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077696000","display_name":"H. Kazerooni","orcid":"https://orcid.org/0000-0002-4166-1863"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Kazerooni","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044941630","display_name":"Andrew Chu","orcid":"https://orcid.org/0000-0002-7620-7724"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Chu","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA","[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., California Univ., Berkeley, CA, USA]","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":304,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3465","last_page":"3472"},"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":0.9812999963760376,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9465000033378601,"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":0.9821348190307617},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8208837509155273},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.662822425365448},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6550852060317993},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.6528276205062866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4586908519268036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35211843252182007},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3353119492530823},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3280251622200012},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1689755618572235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1451011598110199}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9821348190307617},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8208837509155273},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.662822425365448},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6550852060317993},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.6528276205062866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4586908519268036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35211843252182007},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3353119492530823},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3280251622200012},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1689755618572235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1451011598110199},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W160280690","https://openalex.org/W1510788134","https://openalex.org/W1523694400","https://openalex.org/W1973960516","https://openalex.org/W1977443707","https://openalex.org/W1999893917","https://openalex.org/W2020979714","https://openalex.org/W2029188366","https://openalex.org/W2035615198","https://openalex.org/W2042714253","https://openalex.org/W2047284113","https://openalex.org/W2049412544","https://openalex.org/W2057319411","https://openalex.org/W2102577374","https://openalex.org/W2107500431","https://openalex.org/W2116851367","https://openalex.org/W2138300314","https://openalex.org/W2148825321","https://openalex.org/W2150376634","https://openalex.org/W2166978470","https://openalex.org/W3036155311","https://openalex.org/W3121205076","https://openalex.org/W3214048636","https://openalex.org/W3215218448","https://openalex.org/W4246183632","https://openalex.org/W4254306096","https://openalex.org/W6606527290","https://openalex.org/W6677480419","https://openalex.org/W6804254630"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2013504885"],"abstract_inverted_index":{"The":[0,31,50],"first":[1],"energetically":[2],"autonomous":[3],"lower":[4],"extremity":[5],"exoskeleton":[6],"capable":[7],"of":[8,24,37,42,52,55,60,69],"carrying":[9],"a":[10],"payload":[11],"has":[12,34],"been":[13],"demonstrated":[14],"at":[15],"U.C.":[16],"Berkeley.":[17],"This":[18],"paper":[19],"summarizes":[20],"the":[21,25,53,65,70],"mechanical":[22],"design":[23,67],"Berkeley":[26],"Lower":[27],"Extremity":[28],"Exoskeleton":[29],"(BLEEX).":[30],"anthropomorphically-based":[32],"BLEEX":[33,72],"seven":[35],"degrees":[36,54],"freedom":[38,56],"per":[39],"leg,":[40],"four":[41],"which":[43],"are":[44,62,74],"powered":[45],"by":[46],"linear":[47],"hydraulic":[48],"actuators.":[49],"selection":[51],"and":[57],"their":[58],"ranges":[59],"motion":[61],"described.":[63],"Additionally,":[64],"significant":[66],"aspects":[68],"major":[71],"components":[73],"covered.":[75]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":24},{"year":2015,"cited_by_count":19},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":24},{"year":2012,"cited_by_count":26}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
