{"id":"https://openalex.org/W4407168275","doi":"https://doi.org/10.1109/tro.2025.3539172","title":"A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance","display_name":"A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407168275","doi":"https://doi.org/10.1109/tro.2025.3539172","pmid":"https://pubmed.ncbi.nlm.nih.gov/40123650"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3539172","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3539172","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tro.2025.3539172","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091545453","display_name":"Dante Archangeli","orcid":"https://orcid.org/0000-0002-4228-6196"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dante Archangeli","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0002-4228-6196","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372574","display_name":"Brendon Ortolano","orcid":"https://orcid.org/0009-0003-2248-6734"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendon Ortolano","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0009-0003-2248-6734","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070346545","display_name":"Rosemarie Murray","orcid":"https://orcid.org/0000-0003-3943-2188"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rosemarie Murray","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-3943-2188","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091718313","display_name":"Lukas Gabert","orcid":"https://orcid.org/0000-0001-5569-9099"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lukas Gabert","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0001-5569-9099","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055693210","display_name":"Tommaso Lenzi","orcid":"https://orcid.org/0000-0003-0957-6412"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tommaso Lenzi","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-0957-6412","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091545453"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":4.8107,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94681533,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"1711","last_page":"1727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9843999743461609,"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/exoskeleton","display_name":"Exoskeleton","score":0.8314228653907776},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.7805871963500977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5537484884262085},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.49510136246681213},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33946913480758667},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3299223780632019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32076334953308105},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16563621163368225},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.0760079026222229}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8314228653907776},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.7805871963500977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5537484884262085},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.49510136246681213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33946913480758667},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3299223780632019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32076334953308105},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16563621163368225},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0760079026222229}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2025.3539172","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3539172","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmid:40123650","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40123650","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 transactions on robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11926883","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11926883","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11926883/pdf/nihms-2063363.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1109/tro.2025.3539172","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3539172","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1471499357","display_name":null,"funder_award_id":"#2046287","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3454716945","display_name":null,"funder_award_id":"#W81XWH-22-1-1028","funder_id":"https://openalex.org/F4320306078","funder_display_name":"U.S. Department of Defense"},{"id":"https://openalex.org/G4119534169","display_name":null,"funder_award_id":"W81XWH","funder_id":"https://openalex.org/F4320306078","funder_display_name":"U.S. Department of Defense"},{"id":"https://openalex.org/G5850682332","display_name":null,"funder_award_id":"W81XWH","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G6416910456","display_name":null,"funder_award_id":"W81XWH-22-1-1028","funder_id":"https://openalex.org/F4320306078","funder_display_name":"U.S. Department of Defense"},{"id":"https://openalex.org/G6992442228","display_name":null,"funder_award_id":"1T32TR004394-01","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G8091267383","display_name":null,"funder_award_id":"T420H008414","funder_id":"https://openalex.org/F4320337382","funder_display_name":"National Institute for Occupational Safety and Health"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320332162","display_name":"Centers for Disease Control and Prevention","ror":"https://ror.org/042twtr12"},{"id":"https://openalex.org/F4320337382","display_name":"National Institute for Occupational Safety and Health","ror":"https://ror.org/0502a2655"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W1853143499","https://openalex.org/W1981062045","https://openalex.org/W1984747563","https://openalex.org/W2001459300","https://openalex.org/W2020799005","https://openalex.org/W2038630298","https://openalex.org/W2040344946","https://openalex.org/W2044143754","https://openalex.org/W2049371627","https://openalex.org/W2062902497","https://openalex.org/W2064159853","https://openalex.org/W2083113971","https://openalex.org/W2096962942","https://openalex.org/W2102159351","https://openalex.org/W2109070479","https://openalex.org/W2109218006","https://openalex.org/W2112276210","https://openalex.org/W2117656142","https://openalex.org/W2133564875","https://openalex.org/W2133639509","https://openalex.org/W2147305765","https://openalex.org/W2149765436","https://openalex.org/W2166230296","https://openalex.org/W2188118917","https://openalex.org/W2411309527","https://openalex.org/W2521242676","https://openalex.org/W2586290736","https://openalex.org/W2613688818","https://openalex.org/W2614919192","https://openalex.org/W2742709149","https://openalex.org/W2752062577","https://openalex.org/W2781999526","https://openalex.org/W2883939927","https://openalex.org/W2892742115","https://openalex.org/W2897676283","https://openalex.org/W2908965893","https://openalex.org/W2908978332","https://openalex.org/W2916481247","https://openalex.org/W2946619813","https://openalex.org/W2963106632","https://openalex.org/W2964564098","https://openalex.org/W2999618307","https://openalex.org/W3001002409","https://openalex.org/W3010918129","https://openalex.org/W3014201768","https://openalex.org/W3028167303","https://openalex.org/W3035926617","https://openalex.org/W3093792646","https://openalex.org/W3107354643","https://openalex.org/W3135008453","https://openalex.org/W3166484624","https://openalex.org/W3205872391","https://openalex.org/W4200472691","https://openalex.org/W4225998004","https://openalex.org/W4281912977","https://openalex.org/W4291274560","https://openalex.org/W4298087654","https://openalex.org/W4302276641","https://openalex.org/W4309821735","https://openalex.org/W4385589061","https://openalex.org/W4387934629","https://openalex.org/W4391363029","https://openalex.org/W4392251860","https://openalex.org/W4403676818","https://openalex.org/W6687181247"],"related_works":["https://openalex.org/W2283997923","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/W4388283394","https://openalex.org/W2120000215"],"abstract_inverted_index":{"Wearable":[0],"robots":[1],"and":[2,27,56,62,78,80,104,109,119,165,177],"powered":[3,85],"exoskeletons":[4,16,49],"may":[5,172],"improve":[6,24,173],"ambulation":[7],"for":[8,64],"millions":[9],"of":[10,83,112],"individuals":[11,30],"with":[12,31,88,133,138,162,169],"poor":[13,32],"mobility.":[14],"Powered":[15],"primarily":[17],"assist":[18,51,161],"in":[19,43,52,66,116,179],"the":[20,44,54,67,73,117,180],"sagittal":[21,55,118,157],"plane":[22,145,158],"to":[23],"walking":[25],"efficiency":[26],"speed.":[28],"However,":[29],"mobility":[33],"often":[34],"have":[35],"limited":[36],"mediolateral":[37],"balance,":[38],"which":[39],"requires":[40],"torque":[41,113,124,159],"generation":[42],"frontal":[45,57,120,144],"plane.":[46],"Existing":[47],"hip":[48,86,163],"that":[50,143],"both":[53,174],"planes":[58],"are":[59],"too":[60],"heavy":[61],"bulky":[63],"use":[65],"real":[68,181],"world.":[69,182],"Here":[70],"we":[71],"present":[72],"kinematic":[74,92,135],"model,":[75],"mechatronic":[76],"design,":[77],"benchtop":[79],"human":[81],"testing":[82],"a":[84,89,101],"exoskeleton":[87,95,123],"unique":[90],"parallel":[91],"actuator.":[93],"The":[94,122],"is":[96,126],"lightweight":[97],"(5.3":[98],"kg),":[99],"has":[100],"slim":[102],"profile,":[103],"can":[105,152,160],"generate":[106],"30":[107],"N\u00b7m":[108,111],"20":[110],"during":[114,148],"gait":[115,175],"planes.":[121],"density":[125],"5.7":[127],"N\u00b7m/kg-53%":[128],"higher":[129],"than":[130],"previously":[131],"possible":[132],"series":[134],"design.":[136],"Testing":[137],"five":[139],"healthy":[140],"subjects":[141],"indicate":[142],"torques":[146],"applied":[147],"stance":[149],"or":[150],"swing":[151],"alter":[153],"step":[154],"width,":[155],"while":[156],"flexion":[164],"extension.":[166],"A":[167],"device":[168],"these":[170],"characteristics":[171],"economy":[176],"balance":[178]},"counts_by_year":[{"year":2025,"cited_by_count":8}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}