{"id":"https://openalex.org/W3207326242","doi":"https://doi.org/10.1109/lra.2022.3145580","title":"Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses","display_name":"Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W3207326242","doi":"https://doi.org/10.1109/lra.2022.3145580","mag":"3207326242","pmid":"https://pubmed.ncbi.nlm.nih.gov/36051565"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3145580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145580","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":"preprint","indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2110.01562","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010100332","display_name":"Christopher Nesler","orcid":"https://orcid.org/0000-0003-1396-1671"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Nesler","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1396-1671","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gray Thomas","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-4466-3466","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068645402","display_name":"Nikhil Divekar","orcid":"https://orcid.org/0000-0002-8683-4828"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Divekar","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-8683-4828","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075910975","display_name":"Elliott J. Rouse","orcid":"https://orcid.org/0000-0003-3880-1527"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliott J. Rouse","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-3880-1527","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051369788","display_name":"Robert D. Gregg","orcid":"https://orcid.org/0000-0002-0729-2857"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D. Gregg","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-0729-2857","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0817,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.32939652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":"3","first_page":"6155","last_page":"6162"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9965999722480774,"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":0.9812999963760376,"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/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.6497624516487122},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6255497932434082},{"id":"https://openalex.org/keywords/biceps","display_name":"Biceps","score":0.589215099811554},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5378588438034058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4981086254119873},{"id":"https://openalex.org/keywords/squat","display_name":"Squat","score":0.47693389654159546},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.46264374256134033},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44312453269958496},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4134743809700012},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.35346636176109314},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34006601572036743},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.3351147174835205},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08095887303352356}],"concepts":[{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.6497624516487122},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6255497932434082},{"id":"https://openalex.org/C2781425419","wikidata":"https://www.wikidata.org/wiki/Q201363","display_name":"Biceps","level":2,"score":0.589215099811554},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5378588438034058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4981086254119873},{"id":"https://openalex.org/C2778820510","wikidata":"https://www.wikidata.org/wiki/Q1755746","display_name":"Squat","level":2,"score":0.47693389654159546},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.46264374256134033},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44312453269958496},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4134743809700012},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.35346636176109314},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34006601572036743},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.3351147174835205},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08095887303352356},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2022.3145580","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145580","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":"pmid:36051565","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36051565","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:arXiv.org:2110.01562","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.01562","pdf_url":"https://arxiv.org/pdf/2110.01562","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":"mag:3207326242","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2110.01562","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9427014","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9427014","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"},{"id":"doi:10.48550/arxiv.2110.01562","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2110.01562","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2110.01562","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.01562","pdf_url":"https://arxiv.org/pdf/2110.01562","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":[{"score":0.7099999785423279,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G3059443968","display_name":null,"funder_award_id":"1953908","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G5653927028","display_name":null,"funder_award_id":"1949869","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G6101816356","display_name":null,"funder_award_id":"R01EB031166","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W1670737740","https://openalex.org/W1972402287","https://openalex.org/W1980547555","https://openalex.org/W1993458106","https://openalex.org/W2006355360","https://openalex.org/W2008854159","https://openalex.org/W2026523445","https://openalex.org/W2067312022","https://openalex.org/W2079041861","https://openalex.org/W2120000215","https://openalex.org/W2124604385","https://openalex.org/W2142114107","https://openalex.org/W2153613084","https://openalex.org/W2159220301","https://openalex.org/W2295130897","https://openalex.org/W2336994412","https://openalex.org/W2482549539","https://openalex.org/W2482673415","https://openalex.org/W2614919192","https://openalex.org/W2737156933","https://openalex.org/W2766635141","https://openalex.org/W2769129712","https://openalex.org/W2771030923","https://openalex.org/W2886880902","https://openalex.org/W2890566160","https://openalex.org/W2901258812","https://openalex.org/W2945684207","https://openalex.org/W2965172846","https://openalex.org/W2967902380","https://openalex.org/W2974273049","https://openalex.org/W3004386539","https://openalex.org/W3004657777","https://openalex.org/W3014316317","https://openalex.org/W3015388501","https://openalex.org/W3016885924","https://openalex.org/W3028167303","https://openalex.org/W3094358830","https://openalex.org/W3094461148","https://openalex.org/W3118744054","https://openalex.org/W3124674856","https://openalex.org/W3128124816","https://openalex.org/W3170234931","https://openalex.org/W3189774270","https://openalex.org/W4206206425","https://openalex.org/W4211003818"],"related_works":["https://openalex.org/W2964564098","https://openalex.org/W2966720801","https://openalex.org/W3197957069","https://openalex.org/W2094532097","https://openalex.org/W2898080887","https://openalex.org/W2171791016","https://openalex.org/W2745202775","https://openalex.org/W2912794871","https://openalex.org/W3011990980","https://openalex.org/W2594043787","https://openalex.org/W2897676027","https://openalex.org/W3008213667","https://openalex.org/W2970111072","https://openalex.org/W3158882801","https://openalex.org/W3206130846","https://openalex.org/W2530517937","https://openalex.org/W1976199972","https://openalex.org/W2411309527","https://openalex.org/W2665085100","https://openalex.org/W2891699026"],"abstract_inverted_index":{"Mobility":[0],"disabilities":[1],"are":[2],"prominent":[3],"in":[4,100,112],"society":[5],"with":[6,39,89],"wide-ranging":[7],"deficits,":[8],"motivating":[9],"modular,":[10],"partial-assist,":[11],"lower-limb":[12],"exoskeletons":[13],"for":[14,65],"this":[15],"heterogeneous":[16],"population.":[17],"This":[18],"paper":[19],"introduces":[20],"the":[21,56,61,108,123,131,152],"Modular":[22],"Backdrivable":[23],"Lower-limb":[24],"Unloading":[25],"Exoskeleton":[26],"(M-BLUE),":[27],"which":[28],"implements":[29],"high":[30],"torque,":[31],"low":[32],"mechanical":[33],"impedance":[34],"actuators":[35],"on":[36],"commercial":[37],"orthoses":[38],"sheet":[40],"metal":[41],"modifications":[42],"to":[43,107,133,137,148,156],"produce":[44],"a":[45,90,101],"variety":[46],"of":[47,60,81,146,154],"hip-":[48],"and/or":[49],"knee-assisting":[50],"configurations.":[51,160],"Benchtop":[52],"system":[53],"identification":[54],"verifies":[55],"desirable":[57],"backdrive":[58],"properties":[59],"actuator,":[62],"and":[63,87,103,116,151,158],"allows":[64],"torque":[66],"prediction":[67],"within":[68],"\u00b10.4":[69],"Nm.":[70],"An":[71],"able-bodied":[72],"human":[73],"subject":[74],"experiment":[75],"demonstrates":[76],"that":[77],"three":[78],"unilateral":[79],"configurations":[80],"M-BLUE":[82,147,155],"(hip":[83],"only,":[84,86],"knee":[85],"hip-knee)":[88],"simple":[91],"gravity":[92],"compensation":[93],"controller":[94],"can":[95],"reduce":[96,134],"muscle":[97,118],"EMG":[98],"readings":[99],"lifting":[102,139],"lowering":[104],"task":[105],"relative":[106],"bare":[109],"condition.":[110],"Reductions":[111],"mean":[113],"muscular":[114],"effort":[115],"peak":[117],"activation":[119],"were":[120],"seen":[121],"across":[122],"primary":[124],"squat":[125],"musculature":[126],"(excluding":[127],"biceps":[128],"femoris),":[129],"demonstrating":[130],"potential":[132],"fatigue":[135],"leading":[136],"poor":[138],"posture.":[140],"These":[141],"promising":[142],"results":[143],"motivate":[144],"applications":[145],"additional":[149],"populations,":[150],"expansion":[153],"bilateral":[157],"ankle":[159]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}