{"id":"https://openalex.org/W2738254052","doi":"https://doi.org/10.1126/scirobotics.aan2634","title":"Robot-driven downward pelvic pull to improve crouch gait in children with cerebral palsy","display_name":"Robot-driven downward pelvic pull to improve crouch gait in children with cerebral palsy","publication_year":2017,"publication_date":"2017-07-19","ids":{"openalex":"https://openalex.org/W2738254052","doi":"https://doi.org/10.1126/scirobotics.aan2634","mag":"2738254052","pmid":"https://pubmed.ncbi.nlm.nih.gov/33157884"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aan2634","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.aan2634","pdf_url":"https://robotics.sciencemag.org/content/robotics/2/8/eaan2634.full.pdf","source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://robotics.sciencemag.org/content/robotics/2/8/eaan2634.full.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072200429","display_name":"Jiyeon Kang","orcid":"https://orcid.org/0000-0003-4154-8593"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Kang","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025674668","display_name":"Dario Martelli","orcid":"https://orcid.org/0000-0002-1903-5372"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Martelli","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045893465","display_name":"Vineet Vashista","orcid":"https://orcid.org/0000-0001-6776-7431"},"institutions":[{"id":"https://openalex.org/I27674431","display_name":"Indian Institute of Technology Gandhinagar","ror":"https://ror.org/0036p5w23","country_code":"IN","type":"education","lineage":["https://openalex.org/I27674431"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"V. Vashista","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Gandhinagar, Gujarat 382355, India"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Gandhinagar, Gujarat 382355, India","institution_ids":["https://openalex.org/I27674431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050232935","display_name":"Isis E. Mart\u00ednez-Hern\u00e1ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I. Martinez-Hernandez","raw_affiliation_strings":["Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA"],"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025539735","display_name":"Heakyung Kim","orcid":"https://orcid.org/0000-0002-3774-4762"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Kim","raw_affiliation_strings":["Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA"],"affiliations":[{"raw_affiliation_string":"Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. K. Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA","Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Department of Rehabilitation and Regenerative Medicine, Columbia University, New York, NY 10032, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5066608996"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":4.3712,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.95016393,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":1.0,"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/T11274","display_name":"Botulinum Toxin and Related Neurological Disorders","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"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/T12459","display_name":"Nerve Injury and Rehabilitation","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/cerebral-palsy","display_name":"Cerebral palsy","score":0.8563492894172668},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.7098163366317749},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6484895944595337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44117826223373413},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4064749479293823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37088292837142944},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.33184292912483215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28351184725761414},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2734605073928833}],"concepts":[{"id":"https://openalex.org/C2779421357","wikidata":"https://www.wikidata.org/wiki/Q210427","display_name":"Cerebral palsy","level":2,"score":0.8563492894172668},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.7098163366317749},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6484895944595337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44117826223373413},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4064749479293823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37088292837142944},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.33184292912483215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28351184725761414},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2734605073928833}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aan2634","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.aan2634","pdf_url":"https://robotics.sciencemag.org/content/robotics/2/8/eaan2634.full.pdf","source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33157884","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33157884","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":"Science robotics","raw_type":null}],"best_oa_location":{"id":"doi:10.1126/scirobotics.aan2634","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.aan2634","pdf_url":"https://robotics.sciencemag.org/content/robotics/2/8/eaan2634.full.pdf","source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2487550204","display_name":null,"funder_award_id":"award307914","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3063191325","display_name":null,"funder_award_id":"award307918","funder_id":"https://openalex.org/F4320308035","funder_display_name":"New York State Department of Health"},{"id":"https://openalex.org/G6083005252","display_name":null,"funder_award_id":"IIS-1339666","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6469217704","display_name":null,"funder_award_id":"award307915","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7159454860","display_name":null,"funder_award_id":"DOH01-C30828GG-3450000","funder_id":"https://openalex.org/F4320308035","funder_display_name":"New York State Department of Health"},{"id":"https://openalex.org/G7569549468","display_name":null,"funder_award_id":"award307916","funder_id":"https://openalex.org/F4320308035","funder_display_name":"New York State Department of Health"},{"id":"https://openalex.org/G7780314047","display_name":null,"funder_award_id":"C31290GG","funder_id":"https://openalex.org/F4320308035","funder_display_name":"New York State Department of Health"},{"id":"https://openalex.org/G964333653","display_name":null,"funder_award_id":"CPS-1329363","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308035","display_name":"New York State Department of Health","ror":"https://ror.org/04hf5kq57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2738254052.pdf","grobid_xml":"https://content.openalex.org/works/W2738254052.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W1501327840","https://openalex.org/W1559393815","https://openalex.org/W1643336599","https://openalex.org/W1872061170","https://openalex.org/W1964681554","https://openalex.org/W1968571438","https://openalex.org/W1969924382","https://openalex.org/W1998767767","https://openalex.org/W2001743716","https://openalex.org/W2007647559","https://openalex.org/W2023103122","https://openalex.org/W2027192020","https://openalex.org/W2036011800","https://openalex.org/W2043785457","https://openalex.org/W2048126986","https://openalex.org/W2054131864","https://openalex.org/W2059587314","https://openalex.org/W2062942116","https://openalex.org/W2066626715","https://openalex.org/W2070342389","https://openalex.org/W2073829058","https://openalex.org/W2074462146","https://openalex.org/W2075127580","https://openalex.org/W2075495923","https://openalex.org/W2078666455","https://openalex.org/W2081680274","https://openalex.org/W2092452924","https://openalex.org/W2097521536","https://openalex.org/W2109603935","https://openalex.org/W2112295121","https://openalex.org/W2112574828","https://openalex.org/W2114511030","https://openalex.org/W2116843976","https://openalex.org/W2117593815","https://openalex.org/W2121544865","https://openalex.org/W2132063035","https://openalex.org/W2137984579","https://openalex.org/W2141393356","https://openalex.org/W2145965127","https://openalex.org/W2146372874","https://openalex.org/W2148373688","https://openalex.org/W2149120033","https://openalex.org/W2150930153","https://openalex.org/W2153088961","https://openalex.org/W2154741127","https://openalex.org/W2163630481","https://openalex.org/W2167234265","https://openalex.org/W2168891225","https://openalex.org/W2170621494","https://openalex.org/W2327569309","https://openalex.org/W2328808483","https://openalex.org/W2415586199","https://openalex.org/W2469592535","https://openalex.org/W2472699201","https://openalex.org/W2473945722","https://openalex.org/W2492063278","https://openalex.org/W2554065608","https://openalex.org/W2567788142","https://openalex.org/W2574992670","https://openalex.org/W4211003818","https://openalex.org/W4231228358","https://openalex.org/W4235138444","https://openalex.org/W6676953071"],"related_works":["https://openalex.org/W1666086067","https://openalex.org/W4205701643","https://openalex.org/W2125580534","https://openalex.org/W2068774066","https://openalex.org/W1972601233","https://openalex.org/W1989734657","https://openalex.org/W4226004263","https://openalex.org/W4210601529","https://openalex.org/W2528228280","https://openalex.org/W2757733761"],"abstract_inverted_index":{"Children":[0],"with":[1,93,132,139,228],"cerebral":[2,229],"palsy":[3,230],"commonly":[4],"exhibit":[5],"an":[6],"abnormality":[7],"called":[8,158],"crouch":[9,133,140,234],"gait,":[10],"which":[11],"is":[12,38],"characterized":[13],"by":[14,154],"excessive":[15],"flexion":[16],"of":[17,30,47,68,85,130,164,172,178,184,195,204,206],"the":[18,26,31,44,50,57,59,62,69,78,81,86,103,106,173,176,185,207],"hips/knees":[19],"and":[20,52,65,110,128,166,169,187,213],"weak":[21],"plantar":[22],"flexor":[23],"muscles":[24,168],"during":[25,80,115],"stance":[27,83],"phase.":[28],"One":[29],"major":[32],"reasons":[33],"for":[34,226],"this":[35,136,179],"pathological":[36],"gait":[37,48,87,129,141],"weakness":[39],"in":[40],"soleus":[41,60,165],"muscles.":[42],"During":[43],"mid-stance":[45],"phase":[46,84],"when":[49,148],"toe":[51,211],"heel":[53],"are":[54],"both":[55,126],"on":[56,77,150],"ground,":[58],"keeps":[61],"shank":[63],"upright":[64,182],"facilitates":[66],"extension":[67],"knee":[70],"angle.":[71],"It":[72],"also":[73],"provides":[74],"propulsive":[75],"forces":[76],"body":[79],"late":[82],"cycle.":[88],"We":[89,117],"hypothesized":[90],"that":[91],"walking":[92,149,170,193],"downward":[94,108,145],"pelvic":[95,146],"pull":[96],"will":[97],"(i)":[98],"strengthen":[99],"extensor":[100],"muscles,":[101],"especially":[102],"soleus,":[104],"against":[105],"applied":[107],"force":[109,147],"(ii)":[111],"improve":[112,125],"muscle":[113,189],"coordination":[114],"walking.":[116],"then":[118],"tested":[119],"a":[120,151,155,223,233],"robotic":[121,218],"training":[122,219],"paradigm":[123],"to":[124,144],"posture":[127,183],"children":[131,227],"gait.":[134,235],"In":[135,191],"paradigm,":[137],"participants":[138,174],"were":[142],"subjected":[143],"treadmill,":[152],"provided":[153],"cable-driven":[156],"robot":[157],"Tethered":[159],"Pelvic":[160],"Assist":[161],"Device.":[162],"Electromyography":[163],"gastrocnemius":[167],"kinematics":[171],"showed":[175],"feasibility":[177],"training,":[180],"enhanced":[181],"participants,":[186,197],"improved":[188],"coordination.":[190],"addition,":[192],"features":[194],"these":[196],"such":[198],"as":[199],"increased":[200],"step":[201],"length,":[202],"range":[203],"motion":[205],"lower":[208],"limb":[209],"angles,":[210],"clearance,":[212],"heel-to-toe":[214],"pattern,":[215],"improved.":[216],"This":[217],"method":[220],"can":[221],"be":[222],"promising":[224],"intervention":[225],"who":[231],"have":[232]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}