{"id":"https://openalex.org/W2114126353","doi":"https://doi.org/10.1109/iros.2011.6094973","title":"Design and control of a robotic lower extremity exoskeleton for gait rehabilitation","display_name":"Design and control of a robotic lower extremity exoskeleton for gait rehabilitation","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2114126353","doi":"https://doi.org/10.1109/iros.2011.6094973","mag":"2114126353"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094973","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5017852358","display_name":"Ozer Unluhisarcikli","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ozer Unluhisarcikli","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000751904","display_name":"Maciej Pietrusinski","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maciej Pietrusinski","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016036951","display_name":"Brian Weinberg","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Weinberg","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066700427","display_name":"Paolo Bonato","orcid":"https://orcid.org/0000-0002-1818-1714"},"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"]},{"id":"https://openalex.org/I2799748957","display_name":"Spaulding Rehabilitation Hospital","ror":"https://ror.org/011dvr318","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799748957","https://openalex.org/I48633490"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paolo Bonato","raw_affiliation_strings":["Department of Physical Medicine and Rehabilitation, Harvard Medical School and Spaulding RehabilitationHospital, Boston, MA, USA","Department of Physical Medicine and Rehabilitation, Harvard Medical School and Spaulding Rehabilitation Hospital, Boston, MA, 02114, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, Harvard Medical School and Spaulding RehabilitationHospital, Boston, MA, USA","institution_ids":["https://openalex.org/I136199984","https://openalex.org/I2799748957"]},{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, Harvard Medical School and Spaulding Rehabilitation Hospital, Boston, MA, 02114, USA","institution_ids":["https://openalex.org/I136199984","https://openalex.org/I2799748957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019166616","display_name":"Constantinos Mavroidis","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Constantinos Mavroidis","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering; Northeastern University; Boston MA 02115 USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.8479,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.98028674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4893","last_page":"4898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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":0.9968000054359436,"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":0.9275045394897461},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7005364298820496},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6689810156822205},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.598007321357727},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5823268294334412},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5800544619560242},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5545920133590698},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.5117790102958679},{"id":"https://openalex.org/keywords/gait-training","display_name":"Gait training","score":0.5116222500801086},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4947018325328827},{"id":"https://openalex.org/keywords/gait-cycle","display_name":"Gait cycle","score":0.48886245489120483},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.47376373410224915},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4589461088180542},{"id":"https://openalex.org/keywords/rehabilitation-robotics","display_name":"Rehabilitation robotics","score":0.45502597093582153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44146230816841125},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.41823717951774597},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3194613456726074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3191375732421875},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.2906317710876465},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.2834101915359497},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.20034858584403992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11767774820327759}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9275045394897461},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7005364298820496},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6689810156822205},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.598007321357727},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5823268294334412},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5800544619560242},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5545920133590698},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.5117790102958679},{"id":"https://openalex.org/C2777217371","wikidata":"https://www.wikidata.org/wiki/Q5517370","display_name":"Gait training","level":3,"score":0.5116222500801086},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4947018325328827},{"id":"https://openalex.org/C2985215115","wikidata":"https://www.wikidata.org/wiki/Q22305006","display_name":"Gait cycle","level":3,"score":0.48886245489120483},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.47376373410224915},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4589461088180542},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.45502597093582153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44146230816841125},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.41823717951774597},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3194613456726074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3191375732421875},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2906317710876465},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.2834101915359497},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.20034858584403992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11767774820327759},{"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/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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":1,"locations":[{"id":"doi:10.1109/iros.2011.6094973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094973","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1821665499","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1983552589","https://openalex.org/W2012154384","https://openalex.org/W2047688129","https://openalex.org/W2051821264","https://openalex.org/W2057746046","https://openalex.org/W2095014003","https://openalex.org/W2113585314","https://openalex.org/W2133322641","https://openalex.org/W2142117918","https://openalex.org/W2166869394","https://openalex.org/W2171570084","https://openalex.org/W2614781785","https://openalex.org/W6646068380"],"related_works":["https://openalex.org/W2132773469","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W1992974134","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W2904885586","https://openalex.org/W1551497311","https://openalex.org/W3003109530","https://openalex.org/W4229014760"],"abstract_inverted_index":{"Design":[0],"and":[1,18],"control":[2],"of":[3,68,74],"an":[4,47],"active":[5],"knee":[6,44],"rehabilitation":[7,21],"orthotic":[8],"system":[9],"called":[10],"ANdROS":[11],"that":[12,29],"was":[13],"designed":[14],"as":[15],"a":[16,31],"wearable":[17],"portable":[19],"gait":[20,33],"tool":[22],"is":[23,35,54,62,77],"presented.":[24],"A":[25],"corrective":[26],"force":[27],"field":[28],"reinforces":[30],"desired":[32],"pattern":[34],"applied":[36],"to":[37],"the":[38,43,57,65,69,75],"patient's":[39,58],"impaired":[40],"leg":[41],"around":[42],"joint":[45],"via":[46],"impedance":[48,52],"controlled":[49],"exoskeleton.":[50],"The":[51,72],"controller":[53,76],"synchronized":[55],"with":[56],"walking":[59],"phase":[60],"which":[61],"estimated":[63],"from":[64],"kinematic":[66],"measurements":[67],"healthy":[70],"leg.":[71],"performance":[73],"evaluated":[78],"through":[79],"bench-testing.":[80]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}