{"id":"https://openalex.org/W2771000883","doi":"https://doi.org/10.1109/mra.2017.2754284","title":"Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon","display_name":"Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon","publication_year":2017,"publication_date":"2017-11-15","ids":{"openalex":"https://openalex.org/W2771000883","doi":"https://doi.org/10.1109/mra.2017.2754284","mag":"2771000883"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2017.2754284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2754284","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1702.08656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Robert Griffin","orcid":"https://orcid.org/0000-0002-1128-346X"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robert Griffin","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":"https://orcid.org/0000-0002-1128-346X","affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tyson Cobb","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tyson Cobb","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Travis Craig","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Travis Craig","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mark Daniel","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Daniel","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Nick van Dijk","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick van Dijk","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jeremy Gines","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Gines","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Koen Kramer","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koen Kramer","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shriya Shah","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shriya Shah","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Olger Siebinga","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olger Siebinga","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jesper Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesper Smith","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"last","author":{"id":null,"display_name":"Peter Neuhaus","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Neuhaus","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition, Pensacola, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition, Pensacola, United States","institution_ids":["https://openalex.org/I1335578998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1335578998"],"apc_list":null,"apc_paid":null,"fwci":1.8374,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.84846818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"24","issue":"4","first_page":"66","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9822999835014343,"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":0.9822999835014343,"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":0.009200000204145908,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.0008999999845400453,"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":0.9556999802589417},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.5131999850273132},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.4819999933242798},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.3849000036716461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3549000024795532},{"id":"https://openalex.org/keywords/knee-flexion","display_name":"Knee flexion","score":0.33079999685287476}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9556999802589417},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.5131999850273132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4864000082015991},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.4819999933242798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4311999976634979},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3961000144481659},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34769999980926514},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3328000009059906},{"id":"https://openalex.org/C2987592631","wikidata":"https://www.wikidata.org/wiki/Q2910873","display_name":"Knee flexion","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32749998569488525},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2017.2754284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2754284","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1702.08656","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1702.08656","pdf_url":"https://arxiv.org/pdf/1702.08656","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1702.08656","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1702.08656","pdf_url":"https://arxiv.org/pdf/1702.08656","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1820228121","https://openalex.org/W1987629029","https://openalex.org/W2003022159","https://openalex.org/W2013020985","https://openalex.org/W2064924211","https://openalex.org/W2070825536","https://openalex.org/W2080826208","https://openalex.org/W2122409085","https://openalex.org/W2127927857","https://openalex.org/W2147288676","https://openalex.org/W6641060993","https://openalex.org/W6680366714"],"related_works":[],"abstract_inverted_index":{"Exoskeletons":[0],"are":[1],"a":[2,23,58,65],"promising":[3],"technology":[4],"that":[5,131],"enables":[6],"individuals":[7],"with":[8,102],"mobility":[9],"limitations":[10],"to":[11,26,34,75,87,96,108,114,122,151],"walk":[12],"again.":[13],"As":[14,72],"the":[15,20,31,76,89,124,156,161],"2016":[16,77,162],"Cybathlon":[17,78,126],"illustrated,":[18],"however,":[19],"community":[21],"has":[22],"considerable":[24],"way":[25],"go":[27],"before":[28],"exoskeletons":[29,42,99],"have":[30],"necessary":[32],"capabilities":[33],"be":[35],"incorporated":[36],"into":[37],"daily":[38],"life.":[39],"While":[40],"most":[41],"power":[43],"only":[44],"hip":[45],"and":[46,53,135],"knee":[47],"flexion,":[48],"Team":[49],"Institute":[50],"for":[51,100],"Human":[52],"Machine":[54],"Cognition":[55],"(IHMC)":[56],"presents":[57],"new":[59],"exoskeleton,":[60],"Mina":[61,82],"v2,":[62],"which":[63,118],"includes":[64],"powered":[66,93,98,110],"ankle":[67,94,111],"dorsi/plantar":[68],"flexion":[69,113],"(Figure":[70],"1).":[71],"our":[73,106,120,149],"entry":[74],"Powered":[79,157],"Exoskeleton":[80,158],"Competition,":[81],"v2's":[83],"performance":[84],"allowed":[85,119],"us":[86],"explore":[88],"effectiveness":[90],"of":[91,142],"its":[92],"compared":[95],"other":[97],"pilots":[101],"paraplegia.":[103],"We":[104],"designed":[105],"gaits":[107],"incorporate":[109],"plantar":[112],"help":[115],"improve":[116],"mobility,":[117],"pilot":[121],"navigate":[123],"given":[125],"tasks":[127],"quickly,":[128],"including":[129],"those":[130],"required":[132],"ascending":[133],"movements,":[134],"reliably":[136],"achieve":[137],"average,":[138],"conservative":[139],"walking":[140],"speeds":[141],"1.04":[143],"km/h":[144],"(0.29":[145],"m/s).":[146],"This":[147],"enabled":[148],"team":[150],"place":[152],"second":[153],"overall":[154],"in":[155,160],"Competition":[159],"Cybathlon.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2017-12-04T00:00:00"}
