{"id":"https://openalex.org/W2990285263","doi":"https://doi.org/10.1109/lra.2019.2955946","title":"Towards Variable Assistance for Lower Body Exoskeletons","display_name":"Towards Variable Assistance for Lower Body Exoskeletons","publication_year":2019,"publication_date":"2019-11-26","ids":{"openalex":"https://openalex.org/W2990285263","doi":"https://doi.org/10.1109/lra.2019.2955946","mag":"2990285263"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2955946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2955946","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.11188","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Thomas Gurriet","orcid":"https://orcid.org/0000-0002-5240-3720"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Gurriet","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA"],"raw_orcid":"https://orcid.org/0000-0002-5240-3720","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maegan Tucker","orcid":"https://orcid.org/0000-0001-7363-6809"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maegan Tucker","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA"],"raw_orcid":"https://orcid.org/0000-0001-7363-6809","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alexis Duburcq","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexis Duburcq","raw_affiliation_strings":["Wandercraft, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wandercraft, Paris, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guilhem Boeris","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guilhem Boeris","raw_affiliation_strings":["Wandercraft, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wandercraft, Paris, France","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0967,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.76177422,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"5","issue":"1","first_page":"266","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.961899995803833,"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":0.961899995803833,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.015399999916553497,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.00430000014603138,"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/exoskeleton","display_name":"Exoskeleton","score":0.8021000027656555},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6420999765396118},{"id":"https://openalex.org/keywords/lower-body","display_name":"Lower body","score":0.5673999786376953},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.52920001745224},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5189999938011169},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5077999830245972},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47690001130104065},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4514999985694885}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8021000027656555},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6420999765396118},{"id":"https://openalex.org/C3018708532","wikidata":"https://www.wikidata.org/wiki/Q713102","display_name":"Lower body","level":2,"score":0.5673999786376953},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.52920001745224},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5160999894142151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5077999830245972},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47690001130104065},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.45739999413490295},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4514999985694885},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.3919000029563904},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.3634999990463257},{"id":"https://openalex.org/C2989316616","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Lower limb","level":2,"score":0.3481999933719635},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.34369999170303345},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32829999923706055},{"id":"https://openalex.org/C2992583082","wikidata":"https://www.wikidata.org/wiki/Q9645","display_name":"Upper body","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.304500013589859},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28200000524520874},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2019.2955946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2955946","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"},{"id":"pmh:oai:arXiv.org:1909.11188","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.11188","pdf_url":"https://arxiv.org/pdf/1909.11188","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:authors.library.caltech.edu:100184","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/100184/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.11188","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.11188","pdf_url":"https://arxiv.org/pdf/1909.11188","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1780151683","https://openalex.org/W1880805667","https://openalex.org/W1965852706","https://openalex.org/W1972194218","https://openalex.org/W2034441309","https://openalex.org/W2048726136","https://openalex.org/W2070825536","https://openalex.org/W2072395926","https://openalex.org/W2074223821","https://openalex.org/W2092683817","https://openalex.org/W2102046115","https://openalex.org/W2119349639","https://openalex.org/W2122409085","https://openalex.org/W2142114107","https://openalex.org/W2143717973","https://openalex.org/W2147741970","https://openalex.org/W2236853351","https://openalex.org/W2291968190","https://openalex.org/W2413990562","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2604724024","https://openalex.org/W2735010720","https://openalex.org/W2889938945","https://openalex.org/W2914264703","https://openalex.org/W2963212932","https://openalex.org/W2968945909","https://openalex.org/W4211003818","https://openalex.org/W4234910518","https://openalex.org/W4241586728","https://openalex.org/W6609610261","https://openalex.org/W6775395522"],"related_works":[],"abstract_inverted_index":{"This":[0,86],"letter":[1],"presents":[2],"and":[3,118],"experimentally":[4,114],"demonstrates":[5],"a":[6,32,48,53,63,70,77,103],"novel":[7],"framework":[8],"for":[9],"variable":[10],"assistance":[11],"on":[12],"lower":[13,54,121],"body":[14,55,122],"exoskeletons,":[15],"based":[16],"upon":[17],"safety-critical":[18],"control":[19,67,89],"methods.":[20],"Existing":[21],"work":[22],"has":[23],"shown":[24],"that":[25],"providing":[26],"some":[27],"freedom":[28],"of":[29,36,45,109],"movement":[30],"around":[31],"nominal":[33],"gait,":[34],"instead":[35],"rigidly":[37],"following":[38],"it,":[39],"accelerates":[40],"the":[41,110,119],"spinal":[42],"learning":[43],"process":[44],"people":[46],"with":[47,115],"walking":[49],"impediment":[50],"when":[51],"using":[52],"exoskeleton.":[56,123],"With":[57],"this":[58],"as":[59],"motivation,":[60],"we":[61],"present":[62],"method":[64,87,111],"to":[65,74,83,92,96],"accurately":[66],"how":[68],"much":[69],"subject":[71],"is":[72,112],"allowed":[73],"deviate":[75],"from":[76],"given":[78],"gait":[79],"while":[80],"ensuring":[81],"robustness":[82],"patient":[84],"perturbation.":[85],"leverages":[88],"barrier":[90],"functions":[91],"force":[93],"certain":[94],"joints":[95],"remain":[97],"inside":[98],"predefined":[99],"trajectory":[100],"tubes":[101],"in":[102],"minimally":[104],"invasive":[105],"way.":[106],"The":[107],"effectiveness":[108],"demonstrated":[113],"able-bodied":[116],"subjects":[117],"Atalante":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-12-05T00:00:00"}