{"id":"https://openalex.org/W4407759707","doi":"https://doi.org/10.1145/3706598.3713815","title":"ExoKit: A Toolkit for Rapid Prototyping of Interactions for Arm-based Exoskeletons","display_name":"ExoKit: A Toolkit for Rapid Prototyping of Interactions for Arm-based Exoskeletons","publication_year":2025,"publication_date":"2025-04-24","ids":{"openalex":"https://openalex.org/W4407759707","doi":"https://doi.org/10.1145/3706598.3713815"},"language":"en","primary_location":{"id":"doi:10.1145/3706598.3713815","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706598.3713815","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3706598.3713815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017219008","display_name":"Marie Muehlhaus","orcid":"https://orcid.org/0000-0002-5696-7259"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Marie Muehlhaus","raw_affiliation_strings":["Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5696-7259","affiliations":[{"raw_affiliation_string":"Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116335780","display_name":"Alexander Liggesmeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Liggesmeyer","raw_affiliation_strings":["Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany"],"raw_orcid":"https://orcid.org/0009-0001-9778-3798","affiliations":[{"raw_affiliation_string":"Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069105456","display_name":"J\u00fcrgen Steimle","orcid":"https://orcid.org/0000-0003-3493-8745"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00fcrgen Steimle","raw_affiliation_strings":["Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3493-8745","affiliations":[{"raw_affiliation_string":"Saarland University, Saarland Informatics Campus, Saarbr\u00fccken, Germany","institution_ids":["https://openalex.org/I91712215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017219008"],"corresponding_institution_ids":["https://openalex.org/I91712215"],"apc_list":null,"apc_paid":null,"fwci":7.112,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96792599,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9976999759674072,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"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":0.9819999933242798,"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":0.8668285608291626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6733286380767822},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6598412990570068},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6443769931793213},{"id":"https://openalex.org/keywords/physical-computing","display_name":"Physical computing","score":0.5732013583183289},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.563115656375885},{"id":"https://openalex.org/keywords/firmware","display_name":"Firmware","score":0.5593137741088867},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4482913613319397},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2557373642921448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23602494597434998},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.15517181158065796},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.12770295143127441}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8668285608291626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6733286380767822},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6598412990570068},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6443769931793213},{"id":"https://openalex.org/C128582244","wikidata":"https://www.wikidata.org/wiki/Q939007","display_name":"Physical computing","level":2,"score":0.5732013583183289},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.563115656375885},{"id":"https://openalex.org/C67212190","wikidata":"https://www.wikidata.org/wiki/Q104851","display_name":"Firmware","level":2,"score":0.5593137741088867},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4482913613319397},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2557373642921448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23602494597434998},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.15517181158065796},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.12770295143127441},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3706598.3713815","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706598.3713815","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2502.12747","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.12747","pdf_url":"https://arxiv.org/pdf/2502.12747","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"doi:10.1145/3706598.3713815","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706598.3713815","pdf_url":null,"source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W1531267695","https://openalex.org/W1966773602","https://openalex.org/W1966775428","https://openalex.org/W2050835671","https://openalex.org/W2057168118","https://openalex.org/W2071850367","https://openalex.org/W2083988917","https://openalex.org/W2086239403","https://openalex.org/W2096157052","https://openalex.org/W2098201217","https://openalex.org/W2108720330","https://openalex.org/W2312703239","https://openalex.org/W2397519240","https://openalex.org/W2401668149","https://openalex.org/W2460525064","https://openalex.org/W2481193363","https://openalex.org/W2482133611","https://openalex.org/W2513876803","https://openalex.org/W2534521461","https://openalex.org/W2537074996","https://openalex.org/W2611369375","https://openalex.org/W2622788983","https://openalex.org/W2742589704","https://openalex.org/W2775663585","https://openalex.org/W2798561283","https://openalex.org/W2811040479","https://openalex.org/W2897414246","https://openalex.org/W2922217587","https://openalex.org/W2939421818","https://openalex.org/W2940721292","https://openalex.org/W2966422716","https://openalex.org/W2966812348","https://openalex.org/W2980319421","https://openalex.org/W2988003450","https://openalex.org/W3010621561","https://openalex.org/W3012542762","https://openalex.org/W3088451452","https://openalex.org/W3093717762","https://openalex.org/W3104388512","https://openalex.org/W3158716008","https://openalex.org/W3160687761","https://openalex.org/W3183839786","https://openalex.org/W3187506282","https://openalex.org/W3202764408","https://openalex.org/W3211042935","https://openalex.org/W4200401311","https://openalex.org/W4200464658","https://openalex.org/W4224293424","https://openalex.org/W4224997467","https://openalex.org/W4225110319","https://openalex.org/W4225147681","https://openalex.org/W4225637222","https://openalex.org/W4248885579","https://openalex.org/W4292422432","https://openalex.org/W4307472453","https://openalex.org/W4307472482","https://openalex.org/W4308426875","https://openalex.org/W4315631958","https://openalex.org/W4321352025","https://openalex.org/W4362609983","https://openalex.org/W4366547347","https://openalex.org/W4366588113","https://openalex.org/W4366588255","https://openalex.org/W4366588639","https://openalex.org/W4366594189","https://openalex.org/W4383683084","https://openalex.org/W4387835348","https://openalex.org/W4396705382","https://openalex.org/W4396833736"],"related_works":["https://openalex.org/W2582981600","https://openalex.org/W4389238932","https://openalex.org/W4387467152","https://openalex.org/W4212885212","https://openalex.org/W4379115910","https://openalex.org/W3010413952","https://openalex.org/W4253989935","https://openalex.org/W2810560948","https://openalex.org/W2070793896","https://openalex.org/W4206124993"],"abstract_inverted_index":{"Exoskeletons":[0],"open":[1],"up":[2],"a":[3,51,119],"unique":[4],"interaction":[5,20,149],"space":[6],"that":[7,36,101],"seamlessly":[8],"integrates":[9],"users'":[10],"body":[11],"movements":[12],"with":[13],"robotic":[14],"actuation.":[15],"Despite":[16],"its":[17],"potential,":[18],"human-exoskeleton":[19,104],"remains":[21],"an":[22],"underexplored":[23],"area":[24],"in":[25],"HCI,":[26],"largely":[27],"due":[28],"to":[29,39,81],"the":[30,92,141],"lack":[31],"of":[32,57,94,145],"accessible":[33],"prototyping":[34,56],"tools":[35],"enable":[37],"designers":[38],"easily":[40],"develop":[41],"exoskeleton":[42],"designs":[43],"and":[44,72,75,83,88,136,143],"customized":[45,86],"interactive":[46,95],"behaviors.":[47],"We":[48],"present":[49],"ExoKit,":[50],"do-it-yourself":[52],"toolkit":[53],"for":[54,70,85,147],"rapid":[55],"low-fidelity,":[58],"functional":[59,99],"exoskeletons":[60],"targeted":[61,126],"at":[62,127],"novice":[63],"roboticists.":[64],"ExoKit":[65,146],"includes":[66],"modular":[67],"hardware":[68],"components":[69],"sensing":[71],"actuating":[73],"shoulder":[74],"elbow":[76],"joints,":[77],"which":[78],"are":[79],"easy":[80],"fabricate":[82],"(re)configure":[84],"functionality":[87],"wearability.":[89],"To":[90],"simplify":[91],"programming":[93],"behaviors,":[96],"we":[97],"propose":[98],"abstractions":[100],"encapsulate":[102],"high-level":[103],"interactions.":[105],"These":[106],"can":[107],"be":[108],"readily":[109],"accessed":[110],"either":[111],"through":[112],"ExoKit's":[113],"command-line":[114],"or":[115,122],"graphical":[116],"user":[117],"interface,":[118],"Processing":[120],"library,":[121],"microcontroller":[123],"firmware,":[124],"each":[125],"different":[128],"experience":[129],"levels.":[130],"Findings":[131],"from":[132],"implemented":[133],"application":[134],"cases":[135],"two":[137],"usage":[138],"studies":[139],"demonstrate":[140],"versatility":[142],"accessibility":[144],"early-stage":[148],"design.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
