{"id":"https://openalex.org/W3012966102","doi":"https://doi.org/10.1126/scirobotics.aay9108","title":"Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance","display_name":"Improving the energy economy of human running with powered and unpowered ankle exoskeleton assistance","publication_year":2020,"publication_date":"2020-03-25","ids":{"openalex":"https://openalex.org/W3012966102","doi":"https://doi.org/10.1126/scirobotics.aay9108","mag":"3012966102"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aay9108","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aay9108","pdf_url":null,"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"],"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/A5073670988","display_name":"Kirby Ann Witte","orcid":"https://orcid.org/0000-0002-2452-7072"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kirby A. Witte","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008797195","display_name":"Pieter Fiers","orcid":"https://orcid.org/0000-0002-5197-4740"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"Pieter Fiers","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","Department of Movement and Sports Sciences, Ghent University, Ghent, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Movement and Sports Sciences, Ghent University, Ghent, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015229737","display_name":"Alison L. Sheets-Singer","orcid":"https://orcid.org/0000-0002-7075-8808"},"institutions":[{"id":"https://openalex.org/I2948571462","display_name":"Nike (United States)","ror":"https://ror.org/05qcea723","country_code":"US","type":"company","lineage":["https://openalex.org/I2948571462"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alison L. Sheets-Singer","raw_affiliation_strings":["Sport Research Lab, Nike Inc., Beaverton, OR 97006, USA"],"affiliations":[{"raw_affiliation_string":"Sport Research Lab, Nike Inc., Beaverton, OR 97006, USA","institution_ids":["https://openalex.org/I2948571462"]}]},{"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/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven H. Collins","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037382800"],"corresponding_institution_ids":["https://openalex.org/I74973139","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":10.0107,"has_fulltext":false,"cited_by_count":187,"citation_normalized_percentile":{"value":0.99011581,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"5","issue":"40","first_page":null,"last_page":null},"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":0.9909999966621399,"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":0.9811000227928162,"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":0.966988205909729},{"id":"https://openalex.org/keywords/running-economy","display_name":"Running economy","score":0.8002121448516846},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7514005899429321},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5365256071090698},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5313338041305542},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4957009553909302},{"id":"https://openalex.org/keywords/treadmill","display_name":"Treadmill","score":0.4664933681488037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4346133768558502},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.38005831837654114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3570246696472168},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.32217663526535034},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.23083797097206116},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19404232501983643},{"id":"https://openalex.org/keywords/heart-rate","display_name":"Heart rate","score":0.12799131870269775},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11838209629058838}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.966988205909729},{"id":"https://openalex.org/C2778702312","wikidata":"https://www.wikidata.org/wiki/Q7380016","display_name":"Running economy","level":5,"score":0.8002121448516846},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7514005899429321},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5365256071090698},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5313338041305542},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4957009553909302},{"id":"https://openalex.org/C2781464450","wikidata":"https://www.wikidata.org/wiki/Q839144","display_name":"Treadmill","level":2,"score":0.4664933681488037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4346133768558502},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.38005831837654114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3570246696472168},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.32217663526535034},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.23083797097206116},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19404232501983643},{"id":"https://openalex.org/C2777953023","wikidata":"https://www.wikidata.org/wiki/Q1073121","display_name":"Heart rate","level":3,"score":0.12799131870269775},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11838209629058838},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C84393581","wikidata":"https://www.wikidata.org/wiki/Q82642","display_name":"Blood pressure","level":2,"score":0.0},{"id":"https://openalex.org/C196310339","wikidata":"https://www.wikidata.org/wiki/Q60354","display_name":"VO2 max","level":4,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aay9108","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aay9108","pdf_url":null,"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":"pmh:oai:archive.ugent.be:8699801","is_oa":false,"landing_page_url":"https://biblio.ugent.be/publication/8699801","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2470-9476","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G255524836","display_name":null,"funder_award_id":"DGE-1252522","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/F4320307994","display_name":"NIKE","ror":"https://ror.org/05qcea723"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W280334609","https://openalex.org/W1564010284","https://openalex.org/W1587755077","https://openalex.org/W1826404855","https://openalex.org/W1864504421","https://openalex.org/W1966349570","https://openalex.org/W1967246448","https://openalex.org/W1974860030","https://openalex.org/W1974950104","https://openalex.org/W1980724410","https://openalex.org/W1981096042","https://openalex.org/W1991235214","https://openalex.org/W2032292970","https://openalex.org/W2042754559","https://openalex.org/W2053884789","https://openalex.org/W2058074226","https://openalex.org/W2078370135","https://openalex.org/W2086473770","https://openalex.org/W2100792856","https://openalex.org/W2103231223","https://openalex.org/W2113111527","https://openalex.org/W2114313344","https://openalex.org/W2124438859","https://openalex.org/W2124889298","https://openalex.org/W2147960405","https://openalex.org/W2147988336","https://openalex.org/W2150164363","https://openalex.org/W2157826678","https://openalex.org/W2170320699","https://openalex.org/W2170477928","https://openalex.org/W2184225391","https://openalex.org/W2236853351","https://openalex.org/W2287555228","https://openalex.org/W2326876711","https://openalex.org/W2401700601","https://openalex.org/W2471234362","https://openalex.org/W2473253176","https://openalex.org/W2477158348","https://openalex.org/W2522365874","https://openalex.org/W2523568785","https://openalex.org/W2599396951","https://openalex.org/W2599803085","https://openalex.org/W2601705846","https://openalex.org/W2616060807","https://openalex.org/W2621250940","https://openalex.org/W2700163520","https://openalex.org/W2770125989","https://openalex.org/W2783106319","https://openalex.org/W2788331089","https://openalex.org/W2791047135","https://openalex.org/W2884026921","https://openalex.org/W2890923088","https://openalex.org/W2892123002","https://openalex.org/W2893020384","https://openalex.org/W2901443750","https://openalex.org/W2954978755","https://openalex.org/W2967902380","https://openalex.org/W2968872308","https://openalex.org/W2988268426","https://openalex.org/W2990422068","https://openalex.org/W4239807603","https://openalex.org/W4256333068"],"related_works":["https://openalex.org/W3205655234","https://openalex.org/W2909939948","https://openalex.org/W2906683640","https://openalex.org/W3012966102","https://openalex.org/W4388627005","https://openalex.org/W45033660","https://openalex.org/W3012841673","https://openalex.org/W2462876646","https://openalex.org/W4249783448","https://openalex.org/W2960565497"],"abstract_inverted_index":{"Optimized":[0],"assistance":[1,13],"from":[2],"powered":[3],"ankle":[4],"exoskeletons":[5],"reduces":[6],"energy":[7],"cost":[8],"during":[9],"running,":[10],"whereas":[11],"spring-like":[12],"is":[14],"ineffective.":[15]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":37},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":39},{"year":2021,"cited_by_count":45},{"year":2020,"cited_by_count":5}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2020-04-03T00:00:00"}