{"id":"https://openalex.org/W2095552551","doi":"https://doi.org/10.1109/iros.2014.6942843","title":"Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement","display_name":"Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2095552551","doi":"https://doi.org/10.1109/iros.2014.6942843","mag":"2095552551"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5072457320","display_name":"Chan-Yul Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Chan-Yul Jung","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, Korea","Dept. of Mechanical Engineering, Korea University, Seoul, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Korea University, Seoul, Korea#TAB#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065066721","display_name":"Junho Choi","orcid":"https://orcid.org/0000-0003-4269-4787"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junho Choi","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061319954","display_name":"Shinsuk Park","orcid":"https://orcid.org/0000-0003-3714-1061"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Shinsuk Park","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, Korea","Dept. of Mechanical Engineering, Korea University, Seoul, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Korea University, Seoul, Korea#TAB#","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382860","display_name":"Jong Min Lee","orcid":"https://orcid.org/0000-0001-5395-0067"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Min Lee","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100645544","display_name":"Changhwan Kim","orcid":"https://orcid.org/0000-0002-0626-730X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ChangHwan Kim","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025174275","display_name":"Seung\u2010Jong Kim","orcid":"https://orcid.org/0000-0002-9609-1116"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Jong Kim","raw_affiliation_strings":["Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"#N#            \u00a7Center for Bionics, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072457320"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":0.1868,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.57003319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2095","last_page":"2100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9983999729156494,"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":0.9366719722747803},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6453995108604431},{"id":"https://openalex.org/keywords/pelvis","display_name":"Pelvis","score":0.5846364498138428},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5807528495788574},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.517971396446228},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49895453453063965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48582980036735535},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.4846287667751312},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4703293740749359},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4623410105705261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45473629236221313},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4531732201576233},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4456965923309326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.344768226146698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3353578746318817},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2622779309749603},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15676331520080566},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14388254284858704},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09430494904518127},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07833117246627808}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9366719722747803},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6453995108604431},{"id":"https://openalex.org/C2778357063","wikidata":"https://www.wikidata.org/wiki/Q713102","display_name":"Pelvis","level":2,"score":0.5846364498138428},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5807528495788574},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.517971396446228},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49895453453063965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48582980036735535},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.4846287667751312},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4703293740749359},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4623410105705261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45473629236221313},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4531732201576233},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4456965923309326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.344768226146698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3353578746318817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2622779309749603},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15676331520080566},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14388254284858704},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09430494904518127},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07833117246627808},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1498531733","https://openalex.org/W1555444101","https://openalex.org/W1964276387","https://openalex.org/W2044951073","https://openalex.org/W2058729123","https://openalex.org/W2098040129","https://openalex.org/W2127245174","https://openalex.org/W2130147724","https://openalex.org/W2138138237","https://openalex.org/W2147582248","https://openalex.org/W2166869394","https://openalex.org/W2168828783","https://openalex.org/W2285440437","https://openalex.org/W6630225148","https://openalex.org/W6633152776","https://openalex.org/W6674883421","https://openalex.org/W6695629593"],"related_works":["https://openalex.org/W3011792212","https://openalex.org/W3215861079","https://openalex.org/W2908651043","https://openalex.org/W2743486208","https://openalex.org/W3093766977","https://openalex.org/W3198256967","https://openalex.org/W2138896616","https://openalex.org/W4308994242","https://openalex.org/W2077954793","https://openalex.org/W2095552551"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,72],"novel":[4],"exoskeleton":[5,19,107],"system":[6,89,108],"for":[7,32,56,120],"gait":[8,54,112],"rehabilitation,":[9],"which":[10],"allows":[11],"natural":[12,111],"pelvic":[13,33,121],"movements.":[14],"The":[15,84,94],"developed":[16,106],"lower":[17],"extremity":[18],"system,":[20],"COWALK,":[21],"has":[22],"14":[23],"degrees":[24,29,117],"of":[25,30,66,69,81,86,118],"freedom":[26,31,119],"including":[27],"four":[28],"motion.":[34,122],"From":[35],"113":[36],"healthy":[37],"human":[38],"subjects,":[39],"3D":[40],"motion":[41],"capture":[42],"data":[43],"were":[44],"collected":[45],"to":[46,52,62,77],"determine":[47],"mechanical":[48],"design":[49],"parameters":[50],"and":[51,100],"generate":[53],"patterns":[55],"the":[57,64,67,70,79,82,87,105,116],"COWALK":[58,88],"system.":[59],"In":[60],"order":[61],"reduce":[63],"affect":[65],"weight":[68,80],"robot,":[71],"gravity":[73],"compensator":[74],"was":[75,90],"installed":[76],"support":[78],"robot.":[83],"performance":[85],"validated":[91],"by":[92,114],"experiments.":[93],"experimental":[95],"results":[96],"from":[97],"joint":[98],"trajectories":[99],"pelvis":[101],"movements":[102,113],"show":[103],"that":[104],"can":[109],"produce":[110],"augmenting":[115]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}