{"id":"https://openalex.org/W2791879276","doi":"https://doi.org/10.1109/lra.2018.2812224","title":"Active Rotary-Legs Mechanism for Stair-Climbing Mobility Vehicle","display_name":"Active Rotary-Legs Mechanism for Stair-Climbing Mobility Vehicle","publication_year":2018,"publication_date":"2018-03-09","ids":{"openalex":"https://openalex.org/W2791879276","doi":"https://doi.org/10.1109/lra.2018.2812224","mag":"2791879276"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2812224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812224","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5036744103","display_name":"Kai Sasaki","orcid":"https://orcid.org/0000-0001-8683-998X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kai Sasaki","raw_affiliation_strings":["Ph.D. Program in Empowerment Informatics, University of Tsukuba, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8683-998X","affiliations":[{"raw_affiliation_string":"Ph.D. Program in Empowerment Informatics, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100618207","display_name":"Kenji Suzuki","orcid":"https://orcid.org/0000-0003-1736-5404"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Suzuki","raw_affiliation_strings":["Ph.D. Program in Empowerment Informatics, University of Tsukuba, Tsukuba, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1736-5404","affiliations":[{"raw_affiliation_string":"Ph.D. Program in Empowerment Informatics, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036744103"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":0.5572,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.63813866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":"3","first_page":"2237","last_page":"2244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9987999796867371,"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/T12207","display_name":"Assistive Technology in Communication and Mobility","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/3609","display_name":"Occupational Therapy"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9868999719619751,"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/mechanism","display_name":"Mechanism (biology)","score":0.8557419180870056},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.8376603126525879},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.7358120679855347},{"id":"https://openalex.org/keywords/lever","display_name":"Lever","score":0.7028571963310242},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6810957193374634},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6179943084716797},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.573508620262146},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.49794650077819824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4664596617221832},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.458992063999176},{"id":"https://openalex.org/keywords/wheelchair","display_name":"Wheelchair","score":0.4433956444263458},{"id":"https://openalex.org/keywords/rotary-engine","display_name":"Rotary engine","score":0.43908488750457764},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4385473132133484},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4016956090927124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38862982392311096},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22185766696929932},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14850392937660217},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09167125821113586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08918890357017517},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08344414830207825}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8557419180870056},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.8376603126525879},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.7358120679855347},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.7028571963310242},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6810957193374634},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6179943084716797},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.573508620262146},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.49794650077819824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4664596617221832},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.458992063999176},{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.4433956444263458},{"id":"https://openalex.org/C69381644","wikidata":"https://www.wikidata.org/wiki/Q1043622","display_name":"Rotary engine","level":2,"score":0.43908488750457764},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4385473132133484},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4016956090927124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38862982392311096},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22185766696929932},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14850392937660217},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09167125821113586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08918890357017517},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08344414830207825},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"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/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/lra.2018.2812224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2812224","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1577773176","https://openalex.org/W1787751852","https://openalex.org/W2010310221","https://openalex.org/W2050595094","https://openalex.org/W2141129988","https://openalex.org/W2154733988","https://openalex.org/W2196586843","https://openalex.org/W2210021866","https://openalex.org/W2266589126","https://openalex.org/W2506430625","https://openalex.org/W2531653844","https://openalex.org/W2580294132","https://openalex.org/W6634474032"],"related_works":["https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W4377138153","https://openalex.org/W4312590534","https://openalex.org/W4205407652","https://openalex.org/W2070791754","https://openalex.org/W2371118551","https://openalex.org/W2047426691","https://openalex.org/W4239344806"],"abstract_inverted_index":{"This":[0],"study":[1,80],"describes":[2],"a":[3,9,17,84,91,120,166],"novel":[4],"active":[5,75,111,130,171],"rotary-legs":[6,26,76,172],"mechanism":[7,77,89,117,123,143,159,173],"for":[8,41,90],"stair-climbing":[10,18,43,92],"mobility":[11,96],"vehicle.":[12,97],"We":[13,98,163],"have":[14],"previously":[15],"developed":[16,116],"up":[19,44,93],"and":[20,45,87,94,112,126,131,155,161,174,177],"down":[21,46,95],"wheelchair":[22],"with":[23,124],"lever":[24],"propelled":[25],"operated":[27],"using":[28,63],"the":[29,38,42,53,61,65,73,104,110,141,151,157,170,182],"human":[30,66],"upper":[31,67],"body.":[32,68],"The":[33,69,115,135],"previous":[34,105],"results":[35],"indicated":[36],"that":[37],"required":[39,152],"torque":[40,154],"procedure":[47,62],"can":[48,149],"be":[49],"reduced":[50],"based":[51,102],"on":[52,103],"user's":[54],"posture":[55],"transition,":[56],"which":[57,148],"was":[58],"achieved":[59],"via":[60],"only":[64],"design":[70,168],"principle":[71],"of":[72,119,169,184],"proposed":[74,186],"in":[78],"this":[79,100],"is":[81],"to":[82,140,180],"develop":[83],"more":[85],"compact":[86,160],"lightweight":[88],"achieve":[99],"objective":[101],"observations":[106],"by":[107],"appropriately":[108],"combining":[109],"passive":[113,132],"components.":[114],"consists":[118],"four-bar":[121],"linkage":[122,142],"motors":[125],"gas":[127,136],"springs":[128,137],"as":[129,144],"components,":[133],"respectively.":[134],"are":[138],"connected":[139],"parallel":[145],"elastic":[146],"actuators,":[147],"reduce":[150],"motor":[153],"make":[156],"complete":[158],"lightweight.":[162],"describe":[164],"herein":[165],"detailed":[167],"conduct":[175],"simulations":[176],"preliminary":[178],"experiments":[179],"investigate":[181],"effectiveness":[183],"our":[185],"methodology.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
