{"id":"https://openalex.org/W2166978470","doi":"https://doi.org/10.1109/robot.2004.1307425","title":"The RoboKnee: an exoskeleton for enhancing strength and endurance during walking","display_name":"The RoboKnee: an exoskeleton for enhancing strength and endurance during walking","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2166978470","doi":"https://doi.org/10.1109/robot.2004.1307425","mag":"2166978470"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-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/A5102953629","display_name":"Jerry Pratt","orcid":"https://orcid.org/0000-0001-8414-5220"},"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":"J.E. Pratt","raw_affiliation_strings":["Institute for Human and Machine Cognitions"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Human and Machine Cognitions","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027363219","display_name":"Ben Krupp","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B.T. Krupp","raw_affiliation_strings":["Yobotics, Inc., USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yobotics, Inc., USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089018548","display_name":"Chris Morse","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C.J. Morse","raw_affiliation_strings":["Yobotics, Inc., USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yobotics, Inc., USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037382800","display_name":"Steven H. Collins","orcid":"https://orcid.org/0000-0002-3997-3374"},"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":"S.H. Collins","raw_affiliation_strings":["University of Michigan, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102953629"],"corresponding_institution_ids":["https://openalex.org/I1335578998"],"apc_list":null,"apc_paid":null,"fwci":17.8874,"has_fulltext":false,"cited_by_count":562,"citation_normalized_percentile":{"value":0.99628786,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2430","last_page":"2435 Vol.3"},"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":0.9977999925613403,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9847000241279602,"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":0.9198015928268433},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6720408201217651},{"id":"https://openalex.org/keywords/backpack","display_name":"Backpack","score":0.6282711029052734},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.622070848941803},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5649371147155762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5541498064994812},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.528990626335144},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.44283297657966614},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4291408061981201},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30886900424957275},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.22209158539772034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14564809203147888},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13883274793624878},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09199061989784241}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9198015928268433},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6720408201217651},{"id":"https://openalex.org/C2780345887","wikidata":"https://www.wikidata.org/wiki/Q5843","display_name":"Backpack","level":2,"score":0.6282711029052734},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.622070848941803},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5649371147155762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5541498064994812},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.528990626335144},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.44283297657966614},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4291408061981201},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30886900424957275},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.22209158539772034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14564809203147888},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13883274793624878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09199061989784241},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1480968386","https://openalex.org/W1510788134","https://openalex.org/W1579744090","https://openalex.org/W1707720963","https://openalex.org/W1960992151","https://openalex.org/W1970839532","https://openalex.org/W1977443707","https://openalex.org/W2007149034","https://openalex.org/W2033433965","https://openalex.org/W2057319411","https://openalex.org/W2099996658","https://openalex.org/W2102577374","https://openalex.org/W2105490379","https://openalex.org/W2107500431","https://openalex.org/W2111253117","https://openalex.org/W2114709117","https://openalex.org/W2122762867","https://openalex.org/W2127157297","https://openalex.org/W2140219725","https://openalex.org/W2168117107","https://openalex.org/W2169599337","https://openalex.org/W2224823412","https://openalex.org/W3151707909","https://openalex.org/W6630555420","https://openalex.org/W6676045872","https://openalex.org/W6689356783"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2628003308","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2781161971","https://openalex.org/W2975358643","https://openalex.org/W2030242054","https://openalex.org/W2752519578"],"abstract_inverted_index":{"Exoskeletons":[0],"that":[1],"enhance":[2],"human":[3],"strength,":[4],"endurance,":[5],"and":[6,31,34,68,107,140,149,153],"speed":[7],"while":[8,112,132],"being":[9],"transparent":[10],"to":[11,18,38,80,86,104,128,142],"the":[12,21,25,39,50,64,76,82,93,102,125,133,157],"wearer":[13,103],"are":[14],"feasible.":[15],"In":[16],"order":[17,79],"be":[19,160],"transparent,":[20],"exoskeleton":[22,48],"must":[23],"determine":[24],"user's":[26,83],"intent,":[27],"apply":[28],"forces":[29],"when":[30,139],"where":[32,141],"appropriate,":[33],"present":[35,42],"low":[36],"impedance":[37,89],"wearer.":[40],"We":[41],"a":[43,54,114,118],"one":[44],"degree":[45],"of":[46,57,95,124],"freedom":[47],"called":[49],"RoboKnee":[51,100,158],"which":[52],"achieves":[53],"high":[55],"level":[56],"transparency.":[58],"User":[59],"intent":[60],"is":[61,73,90],"determined":[62],"through":[63,92],"knee":[65,77,110],"joint":[66],"angle":[67],"ground":[69],"reaction":[70],"forces.":[71],"Torque":[72],"applied":[74],"across":[75],"in":[78,117,136],"allow":[81],"quadriceps":[84],"muscles":[85],"relax.":[87],"Low":[88],"achieved":[91],"use":[94],"series":[96],"elastic":[97],"actuators.":[98],"The":[99,120],"allows":[101],"climb":[105],"stairs":[106],"perform":[108],"deep":[109],"bends":[111],"carrying":[113],"significant":[115],"load":[116],"backpack.":[119],"device":[121],"provides":[122],"most":[123],"energy":[126],"required":[127],"work":[129],"against":[130],"gravity":[131],"user":[134],"stays":[135],"control,":[137],"deciding":[138],"walk,":[143],"as":[144,146],"well":[145],"providing":[147],"balance":[148],"control.":[150],"Videos,":[151],"photographs,":[152],"more":[154],"information":[155],"about":[156],"can":[159],"found":[161],"at":[162],"http://www.yobotics.com.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":39},{"year":2018,"cited_by_count":44},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":34},{"year":2015,"cited_by_count":33},{"year":2014,"cited_by_count":47},{"year":2013,"cited_by_count":46},{"year":2012,"cited_by_count":27}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
