{"id":"https://openalex.org/W4312661246","doi":"https://doi.org/10.1109/iros47612.2022.9981394","title":"A Centaur System for Assisting Human Walking with Load Carriage","display_name":"A Centaur System for Assisting Human Walking with Load Carriage","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312661246","doi":"https://doi.org/10.1109/iros47612.2022.9981394"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981394","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101981480","display_name":"Ping Yang","orcid":"https://orcid.org/0009-0008-5533-8785"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Yang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101942643","display_name":"Haoyun Yan","orcid":"https://orcid.org/0000-0003-3835-3904"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyun Yan","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090558022","display_name":"Bowen Yang","orcid":"https://orcid.org/0000-0002-6637-9573"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Yang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101457916","display_name":"Jianquan Li","orcid":"https://orcid.org/0000-0003-1127-2039"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianquan Li","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","Department of Automation, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Automation, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487150","display_name":"Kailin Li","orcid":"https://orcid.org/0000-0003-2588-8766"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kailin Li","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023270824","display_name":"Yuquan Leng","orcid":"https://orcid.org/0000-0003-4063-4545"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuquan Leng","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024107992","display_name":"Chenglong Fu","orcid":"https://orcid.org/0000-0002-8955-5429"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglong Fu","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"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":"5242","last_page":"5248"},"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":0.9939000010490417,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9681000113487244,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.606418788433075},{"id":"https://openalex.org/keywords/centaur","display_name":"Centaur","score":0.590876042842865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5748896598815918},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5262612104415894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4904803931713104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24275586009025574},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.08856311440467834}],"concepts":[{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.606418788433075},{"id":"https://openalex.org/C207953293","wikidata":"https://www.wikidata.org/wiki/Q83203","display_name":"Centaur","level":2,"score":0.590876042842865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5748896598815918},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5262612104415894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4904803931713104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24275586009025574},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.08856311440467834},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C74916050","wikidata":"https://www.wikidata.org/wiki/Q841090","display_name":"Classics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981394","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981394","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G6944101836","display_name":null,"funder_award_id":"U1913205,52175272","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1480972621","https://openalex.org/W1601978771","https://openalex.org/W1979445726","https://openalex.org/W1980207846","https://openalex.org/W2010278105","https://openalex.org/W2012021292","https://openalex.org/W2015244452","https://openalex.org/W2015324860","https://openalex.org/W2102046115","https://openalex.org/W2104212135","https://openalex.org/W2313937152","https://openalex.org/W2515217816","https://openalex.org/W2593412525","https://openalex.org/W2601328444","https://openalex.org/W2737569082","https://openalex.org/W2883776127","https://openalex.org/W2909419194","https://openalex.org/W2909553221","https://openalex.org/W2911753901","https://openalex.org/W2939326968","https://openalex.org/W2997275802","https://openalex.org/W3016092261","https://openalex.org/W3038639781","https://openalex.org/W3039751018","https://openalex.org/W3087147612","https://openalex.org/W3098205130","https://openalex.org/W3103802560","https://openalex.org/W3123299279","https://openalex.org/W3137573274","https://openalex.org/W4205475452","https://openalex.org/W4206297596","https://openalex.org/W4206405834","https://openalex.org/W4206460381","https://openalex.org/W4206916739","https://openalex.org/W4285821202","https://openalex.org/W4287118990","https://openalex.org/W6796768873"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4303007715","https://openalex.org/W4386386949","https://openalex.org/W2460835686","https://openalex.org/W1988451838","https://openalex.org/W2731656241","https://openalex.org/W1537341190","https://openalex.org/W4234363119","https://openalex.org/W4393631632"],"abstract_inverted_index":{"Walking":[0],"with":[1,174,182,232],"load":[2,14,62,82,183,211],"is":[3,37],"a":[4,55,110,225],"common":[5],"task":[6],"in":[7,30],"daily":[8],"life":[9],"and":[10,114,164],"disaster":[11],"rescue.":[12],"Long-term":[13],"carriage":[15,63,184],"may":[16],"cause":[17],"irreversible":[18],"damage":[19],"to":[20,43,49,80,84,104,118,169,191],"the":[21,31,85,90,94,99,119,122,126,130,134,138,152,171,193,196,203,214,221],"human":[22,44,100,105,175,180,230],"body.":[23],"Although":[24],"remarkable":[25],"progress":[26],"has":[27,64],"been":[28,65,186],"made":[29],"field":[32],"of":[33,71,76,93,129,137,179,195,210],"wearable":[34,57],"robots,":[35],"it":[36],"still":[38],"far":[39],"from":[40,88],"avoiding":[41],"interference":[42,117],"legs,":[45],"which":[46,107,218],"will":[47],"lead":[48],"energy":[50],"consumption.":[51],"In":[52],"this":[53],"paper,":[54],"novel":[56],"robot,":[58],"Centaur,":[59],"for":[60,228],"assisting":[61,229],"proposed.":[66],"The":[67,199],"Centaur":[68,95,123,197,204,222],"system":[69,205,223],"consists":[70],"two":[72,77],"rigid":[73],"robotic":[74,91],"legs":[75,92],"degrees-of-freedom":[78],"(DOFs)":[79],"transfer":[81],"weight":[83,212],"ground.":[86],"Different":[87],"exoskeletons,":[89],"are":[96],"placed":[97],"behind":[98],"rather":[101],"than":[102],"attached":[103],"limbs,":[106],"can":[108,124,206],"provide":[109],"larger":[111],"support":[112],"polygon":[113],"avoid":[115],"additional":[116],"wearer.":[120],"Additionally,":[121],"attain":[125],"locomotion":[127],"stability":[128],"quadruped":[131],"while":[132],"maintaining":[133],"motion":[135,147],"agility":[136],"biped":[139],"itself.":[140],"This":[141,156],"paper":[142],"also":[143],"presents":[144],"an":[145],"interactive":[146],"control":[148,157],"strategy":[149,158],"based":[150],"on":[151,188],"human-robot":[153],"interaction":[154],"force.":[155],"incorporates":[159],"legged":[160],"robotics":[161],"walking":[162,166,173,181,231],"controller":[163],"real-time":[165],"trajectory":[167],"planning":[168],"realize":[170],"cooperative":[172],"beings.":[176],"Finally,":[177],"experiments":[178],"have":[185],"conducted":[187],"flat":[189],"terrain":[190],"verify":[192],"concept":[194],"system.":[198],"result":[200],"demonstrates":[201],"that":[202,220],"effectively":[207],"reduce":[208],"70.03%":[209],"during":[213],"single":[215],"stance":[216],"phase,":[217],"indicates":[219],"provides":[224],"new":[226],"solution":[227],"load-carriage.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
