{"id":"https://openalex.org/W4285215801","doi":"https://doi.org/10.1109/lra.2022.3185372","title":"Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton","display_name":"Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton","publication_year":2022,"publication_date":"2022-06-22","ids":{"openalex":"https://openalex.org/W4285215801","doi":"https://doi.org/10.1109/lra.2022.3185372"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3185372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3185372","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/A5076690158","display_name":"Greg Orekhov","orcid":"https://orcid.org/0000-0002-9998-0568"},"institutions":[{"id":"https://openalex.org/I203172682","display_name":"Northern Arizona University","ror":"https://ror.org/0272j5188","country_code":"US","type":"education","lineage":["https://openalex.org/I203172682"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg Orekhov","raw_affiliation_strings":["Mechanical Engineering Department, Northern Arizona University, Flagstaff, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0002-9998-0568","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Northern Arizona University, Flagstaff, AZ, USA","institution_ids":["https://openalex.org/I203172682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056393522","display_name":"Zachary F. Lerner","orcid":"https://orcid.org/0000-0002-7359-436X"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]},{"id":"https://openalex.org/I203172682","display_name":"Northern Arizona University","ror":"https://ror.org/0272j5188","country_code":"US","type":"education","lineage":["https://openalex.org/I203172682"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary F. Lerner","raw_affiliation_strings":["Mechanical Engineering Department, Northern Arizona University, Flagstaff, AZ, USA","the Department of Orthopedics, The University of Arizona College of Medicine-Phoenix, Phoenix, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0002-7359-436X","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Northern Arizona University, Flagstaff, AZ, USA","institution_ids":["https://openalex.org/I203172682"]},{"raw_affiliation_string":"the Department of Orthopedics, The University of Arizona College of Medicine-Phoenix, Phoenix, AZ, USA","institution_ids":["https://openalex.org/I138006243"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5529,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.81019387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"8092","last_page":"8099"},"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":0.9904999732971191,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9625999927520752,"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/exoskeleton","display_name":"Exoskeleton","score":0.9747331142425537},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6223254799842834},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6190892457962036},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6135536432266235},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.574901282787323},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5360856652259827},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5096418857574463},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.500713586807251},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4755273163318634},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.44084230065345764},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4193727374076843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35249146819114685},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3219049274921417},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3149632215499878},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10924944281578064},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09669265151023865},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0788775384426117}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9747331142425537},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6223254799842834},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6190892457962036},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6135536432266235},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.574901282787323},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5360856652259827},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5096418857574463},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.500713586807251},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4755273163318634},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.44084230065345764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4193727374076843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35249146819114685},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3219049274921417},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3149632215499878},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10924944281578064},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09669265151023865},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0788775384426117},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3185372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3185372","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":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G664686114","display_name":null,"funder_award_id":"2045966","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2002555447","https://openalex.org/W2035384217","https://openalex.org/W2053186023","https://openalex.org/W2058074226","https://openalex.org/W2075040108","https://openalex.org/W2098682658","https://openalex.org/W2100792856","https://openalex.org/W2106379667","https://openalex.org/W2111253117","https://openalex.org/W2137264985","https://openalex.org/W2154727104","https://openalex.org/W2168224345","https://openalex.org/W2236853351","https://openalex.org/W2552147079","https://openalex.org/W2563473720","https://openalex.org/W2599604390","https://openalex.org/W2889568681","https://openalex.org/W2924584623","https://openalex.org/W2939326968","https://openalex.org/W2972296415","https://openalex.org/W2999618307","https://openalex.org/W3012841673","https://openalex.org/W3035926617","https://openalex.org/W3173706555","https://openalex.org/W3211834041","https://openalex.org/W4200472691","https://openalex.org/W4245289959","https://openalex.org/W4245318618"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2906683640","https://openalex.org/W1989011507","https://openalex.org/W2908002960","https://openalex.org/W2808226217","https://openalex.org/W2015794229","https://openalex.org/W2893851384","https://openalex.org/W2780323031","https://openalex.org/W2753647732","https://openalex.org/W2909939948"],"abstract_inverted_index":{"The":[0,97],"widespread":[1],"adoption":[2],"of":[3,38,63,71,80,107,175,182,228],"powered":[4,208,219],"lower-limb":[5],"exoskeletons":[6],"for":[7,100,148,162,185],"augmenting":[8],"mobility":[9],"requires":[10],"energy-efficient":[11],"actuation":[12],"to":[13,51,92,157,172,193,203,216],"provide":[14],"meaningful":[15],"assistance":[16],"over":[17],"relevant":[18],"walking":[19,78,125,200,220],"durations.":[20],"We":[21,59],"designed,":[22],"modeled,":[23],"and":[24,46,87,116,141,222,225,233],"validated":[25,131],"an":[26],"ankle":[27,54,75,114,211],"exoskeleton":[28,76,132,212],"design":[29,150,213],"with":[30],"a":[31,39,52,84,88,105],"parallel":[32,50,65,177,209],"elastic":[33,66,210],"element":[34,67],"in":[35,49],"the":[36,61,64,69,72,94,129,163,169,176,180,186,194],"form":[37],"carbon":[40],"fiber":[41],"leaf":[42],"spring":[43,98,153,178,196],"that":[44],"stored":[45],"returned":[47],"energy":[48],"cable-drive":[53],"joint":[55],"during":[56],"stance":[57],"phase.":[58],"assessed":[60],"impact":[62],"on":[68,199],"performance":[70],"untethered":[73],"robotic":[74],"at":[77,112,123],"speeds":[79],"0.75\u20131.25":[81],"m/s":[82],"using":[83],"previously":[85,130],"validated-controller,":[86],"controller":[89,170],"designed":[90,171],"specifically":[91],"maximize":[93],"spring's":[95],"benefit.":[96],"selected":[99],"our":[101],"adult":[102],"cohort":[103],"had":[104],"stiffness":[106],"97.2":[108],"Nm/rad,":[109],"engaged":[110],"best":[111],"0-degrees":[113],"dorsiflexion,":[115],"produced":[117],"10\u201315":[118],"Nm":[119],"peak":[120,134,232],"assistive":[121],"torque":[122],"all":[124],"speeds.":[126],"When":[127,167],"tracking":[128],"controller,":[133],"motor":[135,226,235],"current":[136,143,236],"was":[137,144],"reduced":[138,145],"by":[139,146,230],"14\u201320%":[140],"integrated":[142],"16\u201319%":[147],"parallel-elastic":[149],"vs.":[151],"without":[152],"engagement;":[154],"this":[155,207],"translated":[156],"15\u201326%":[158],"more":[159],"assisted":[160,183],"steps":[161,184],"same":[164,187],"battery":[165,188,224],"capacity.":[166],"utilizing":[168],"take":[173],"advantage":[174],"torque,":[179],"number":[181],"capacity":[189],"increased":[190],"46\u201376%":[191],"compared":[192],"no":[195],"configuration":[197],"depending":[198],"speed.":[201],"Seeking":[202],"facilitate":[204],"real-world":[205],"adoption,":[206],"holds":[214],"potential":[215],"significantly":[217],"extend":[218],"duration,":[221],"improve":[223],"life":[227],"operation":[229],"reducing":[231],"mean":[234],"requirements.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}