{"id":"https://openalex.org/W2954663339","doi":"https://doi.org/10.1109/lra.2019.2924852","title":"Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing","display_name":"Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing","publication_year":2019,"publication_date":"2019-06-24","ids":{"openalex":"https://openalex.org/W2954663339","doi":"https://doi.org/10.1109/lra.2019.2924852","mag":"2954663339"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2924852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2924852","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/A5006671049","display_name":"Charles Khazoom","orcid":"https://orcid.org/0000-0001-7224-1688"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Charles Khazoom","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7224-1688","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002542147","display_name":"Catherine Veronneau","orcid":"https://orcid.org/0000-0001-6793-7533"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Catherine Veronneau","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-6793-7533","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084350006","display_name":"Jean-Philippe Lucking Bigu\u00e9","orcid":"https://orcid.org/0000-0002-8009-6393"},"institutions":[{"id":"https://openalex.org/I4210165640","display_name":"Theratechnologies (Canada)","ror":"https://ror.org/05d3bn235","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210165640"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jean-Philippe Lucking Bigue","raw_affiliation_strings":["Exonetik, Sherbrooke, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8009-6393","affiliations":[{"raw_affiliation_string":"Exonetik, Sherbrooke, QC, Canada","institution_ids":["https://openalex.org/I4210165640"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052738005","display_name":"Jordane Grenier","orcid":"https://orcid.org/0000-0001-9874-2552"},"institutions":[{"id":"https://openalex.org/I4210165303","display_name":"Safran (France)","ror":"https://ror.org/05sqf9v67","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210165303"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jordane Grenier","raw_affiliation_strings":["Safran Electronics & Defense, Site de Valence, France"],"raw_orcid":"https://orcid.org/0000-0001-9874-2552","affiliations":[{"raw_affiliation_string":"Safran Electronics & Defense, Site de Valence, France","institution_ids":["https://openalex.org/I4210165303"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102776403","display_name":"Alexandre Girard","orcid":"https://orcid.org/0000-0002-4652-0613"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexandre Girard","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4652-0613","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023292235","display_name":"Jean\u2010S\u00e9bastien Plante","orcid":"https://orcid.org/0000-0002-0481-8032"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Sebastien Plante","raw_affiliation_strings":["Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0481-8032","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Interdisciplinary Institute for Technological Innovation (3IT), Sherbrooke, QC, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5892,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.9328284,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"3083","last_page":"3090"},"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":0.9930999875068665,"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":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9603701829910278},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7065114974975586},{"id":"https://openalex.org/keywords/magnetorheological-fluid","display_name":"Magnetorheological fluid","score":0.6551520228385925},{"id":"https://openalex.org/keywords/clutch","display_name":"Clutch","score":0.6427077651023865},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5699597001075745},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5383831262588501},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5251502990722656},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.48385846614837646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4638040065765381},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4413844645023346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34730035066604614},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3452458381652832},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.27639859914779663},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21286684274673462},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.1880844533443451},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10836288332939148},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10462391376495361},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08652576804161072}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9603701829910278},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7065114974975586},{"id":"https://openalex.org/C108619579","wikidata":"https://www.wikidata.org/wiki/Q902419","display_name":"Magnetorheological fluid","level":3,"score":0.6551520228385925},{"id":"https://openalex.org/C30358287","wikidata":"https://www.wikidata.org/wiki/Q194302","display_name":"Clutch","level":2,"score":0.6427077651023865},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5699597001075745},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5383831262588501},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5251502990722656},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.48385846614837646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4638040065765381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4413844645023346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34730035066604614},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3452458381652832},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.27639859914779663},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21286684274673462},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.1880844533443451},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10836288332939148},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10462391376495361},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08652576804161072},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2924852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2924852","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":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1587755077","https://openalex.org/W1670737740","https://openalex.org/W1985496568","https://openalex.org/W2019541662","https://openalex.org/W2020317642","https://openalex.org/W2038609344","https://openalex.org/W2078103785","https://openalex.org/W2083910860","https://openalex.org/W2100792856","https://openalex.org/W2102046115","https://openalex.org/W2111689525","https://openalex.org/W2120000215","https://openalex.org/W2138300314","https://openalex.org/W2139716007","https://openalex.org/W2142114107","https://openalex.org/W2144910137","https://openalex.org/W2160060605","https://openalex.org/W2165575471","https://openalex.org/W2171323125","https://openalex.org/W2232289146","https://openalex.org/W2344339070","https://openalex.org/W2347006312","https://openalex.org/W2352725842","https://openalex.org/W2416127396","https://openalex.org/W2522447873","https://openalex.org/W2609988131","https://openalex.org/W2700163520","https://openalex.org/W2737156933","https://openalex.org/W2792994057","https://openalex.org/W2794440733","https://openalex.org/W2890923088","https://openalex.org/W2901258812","https://openalex.org/W4206206425","https://openalex.org/W4231210434"],"related_works":["https://openalex.org/W4292852818","https://openalex.org/W3165529266","https://openalex.org/W3122352013","https://openalex.org/W2738109399","https://openalex.org/W2080643329","https://openalex.org/W2807525849","https://openalex.org/W4367626770","https://openalex.org/W2365403043","https://openalex.org/W2426931666","https://openalex.org/W1827110469"],"abstract_inverted_index":{"Lower-limb":[0],"exoskeletons":[1,17],"have":[2],"shown":[3],"increasing":[4],"potential":[5,67,125],"to":[6,31,35,52,73,135],"augment":[7],"human":[8],"performance":[9],"in":[10,29,114,169],"many":[11],"locomotion":[12],"tasks.":[13],"However,":[14],"most":[15],"lower-limb":[16],"use":[18],"highly":[19],"geared,":[20],"nonback-drivable":[21],"actuators":[22],"with":[23,89,149,201],"limited":[24],"power":[25,152,205],"and":[26,120,138,165,175,204],"force":[27],"bandwidth":[28],"order":[30],"be":[32,36],"light":[33],"enough":[34],"carried":[37],"without":[38],"metabolic":[39,193],"penalty.":[40],"Moreover,":[41],"they":[42],"rely":[43],"on":[44,48,187,199],"controllers":[45],"that":[46,93,110],"depend":[47],"past":[49],"motion":[50],"history":[51],"assist":[53,112],"the":[54,58,66,95,124,127,190],"user,":[55],"which":[56],"limits":[57],"multifunctional":[59,79,167],"capabilities":[60],"of":[61,68,126,144,153,172,181,195],"exoskeletons.":[62],"Here,":[63],"we":[64],"study":[65],"delocalized":[69],"magnetorheological":[70],"(MR)":[71],"clutches":[72,92],"provide":[74],"transparent":[75],"but":[76],"yet":[77],"powerful":[78],"exoskeleton":[80,102],"assistance.":[81],"A":[82],"single":[83],"high-speed,":[84],"lightweight":[85],"motor":[86],"is":[87,103],"coupled":[88],"two":[90],"MR":[91,128],"modulate":[94],"plantar-flexion":[96],"torque":[97,143],"at":[98],"each":[99,188],"ankle.":[100],"The":[101,158],"controlled":[104],"by":[105,131,139,197],"a":[106,141,150,170,178],"state":[107],"map":[108],"controller":[109],"can":[111],"users":[113],"real":[115],"time":[116],"while":[117],"walking,":[118,173],"jumping,":[119,174],"landing.":[121,176],"Results":[122],"confirm":[123],"actuation":[129],"approach":[130],"demonstrating":[132],"instantaneous":[133],"adaptation":[134],"transient":[136],"walking":[137,196],"producing":[140],"maximal":[142],"90":[145],"N\u00b7m":[146],"per":[147],"ankle":[148],"total":[151,179],"1.4":[154],"kW":[155],"when":[156],"jumping.":[157],"system":[159,191],"also":[160],"actively":[161],"braked":[162],"landing":[163],"impact":[164],"achieved":[166],"assistance":[168],"sequence":[171],"With":[177],"mass":[180],"6.2":[182],"kg":[183,186],"including":[184],"0.9":[185],"leg,":[189],"reduces":[192],"cost":[194],"5.6%":[198],"average":[200],"tethered":[202],"electronics":[203],"supply.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}