{"id":"https://openalex.org/W2169575066","doi":"https://doi.org/10.1177/0278364907074472","title":"That Which Does Not Stabilize, Will Only Make Us Stronger","display_name":"That Which Does Not Stabilize, Will Only Make Us Stronger","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2169575066","doi":"https://doi.org/10.1177/0278364907074472","mag":"2169575066"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907074472","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907074472","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5077696000","display_name":"H. Kazerooni","orcid":"https://orcid.org/0000-0002-4166-1863"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H. Kazerooni","raw_affiliation_strings":["Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,"],"affiliations":[{"raw_affiliation_string":"Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044941630","display_name":"Andrew Chu","orcid":"https://orcid.org/0000-0002-7620-7724"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew Chu","raw_affiliation_strings":["Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,"],"affiliations":[{"raw_affiliation_string":"Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056586378","display_name":"Ryan Steger","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryan Steger","raw_affiliation_strings":["Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,"],"affiliations":[{"raw_affiliation_string":"Human Engineering & Robotics Laboratory, University of California, Berkeley, CA 94720, USA,","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044941630","https://openalex.org/A5056586378","https://openalex.org/A5077696000"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.7834,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.75551882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"26","issue":"1","first_page":"75","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9898999929428101,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9879999756813049,"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":0.8775291442871094},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7261598110198975},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6672618389129639},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.6358736753463745},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6220903396606445},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.6155210137367249},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5578989386558533},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5494484305381775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5197231769561768},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49202772974967957},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.49033403396606445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4753037393093109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4639562964439392},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4228064715862274},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.387744665145874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.371926486492157},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.35696136951446533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3349553942680359},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30149441957473755}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8775291442871094},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7261598110198975},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6672618389129639},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.6358736753463745},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6220903396606445},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.6155210137367249},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5578989386558533},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5494484305381775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5197231769561768},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49202772974967957},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.49033403396606445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4753037393093109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4639562964439392},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4228064715862274},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.387744665145874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.371926486492157},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.35696136951446533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3349553942680359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30149441957473755},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364907074472","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907074472","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.6899999976158142,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W160280690","https://openalex.org/W991164387","https://openalex.org/W1510788134","https://openalex.org/W1523694400","https://openalex.org/W1684335268","https://openalex.org/W1913692955","https://openalex.org/W1972615833","https://openalex.org/W1976465748","https://openalex.org/W1976694166","https://openalex.org/W1977443707","https://openalex.org/W1982801892","https://openalex.org/W1991434425","https://openalex.org/W1997761829","https://openalex.org/W1999893917","https://openalex.org/W2005341392","https://openalex.org/W2020979714","https://openalex.org/W2021531696","https://openalex.org/W2029188366","https://openalex.org/W2034922363","https://openalex.org/W2035615198","https://openalex.org/W2057319411","https://openalex.org/W2076150686","https://openalex.org/W2096871584","https://openalex.org/W2098327209","https://openalex.org/W2106168911","https://openalex.org/W2116851367","https://openalex.org/W2118916765","https://openalex.org/W2138300314","https://openalex.org/W2142992961","https://openalex.org/W2148825321","https://openalex.org/W2150376634","https://openalex.org/W2150538314","https://openalex.org/W2166978470","https://openalex.org/W2168601067","https://openalex.org/W2337991911","https://openalex.org/W2530338644","https://openalex.org/W2727785019","https://openalex.org/W3036155311","https://openalex.org/W3150997492","https://openalex.org/W4254306096","https://openalex.org/W6631217142"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W4388873644","https://openalex.org/W4286728594","https://openalex.org/W2765907659"],"abstract_inverted_index":{"Many":[0],"places":[1],"in":[2,32,198],"the":[3,46,55,75,83,86,101,119,124,132,147,160,164,182,210],"world":[4],"are":[5],"too":[6],"rugged":[7],"or":[8,153],"enclosed":[9],"for":[10,85],"vehicles":[11],"to":[12,18,23,44,99,137,187,202,212],"access.":[13],"Even":[14],"today,":[15],"material":[16],"transport":[17],"such":[19,89],"areas":[20],"is":[21,97],"limited":[22],"manual":[24],"labor":[25],"and":[26,48,58,106,141,196,206],"beasts":[27],"of":[28,51,60,63,77,88,104,116,118,163],"burden.":[29],"Modern":[30],"advancements":[31],"wearable":[33,64],"robotics":[34],"may":[35],"make":[36],"those":[37],"methods":[38],"obsolete.":[39],"Lower":[40],"extremity":[41],"exoskeletons":[42],"seek":[43],"supplement":[45],"intelligence":[47],"sensory":[49],"systems":[50],"a":[52,61,69,90,168,174,199],"human":[53],"with":[54],"significant":[56],"strength":[57],"endurance":[59],"pair":[62],"robotic":[65],"legs":[66],"that":[67],"support":[68],"payload.":[70],"This":[71,95,178],"article":[72],"first":[73],"outlines":[74],"use":[76],"Clinical":[78],"Gait":[79],"Analysis":[80],"data":[81,96],"as":[82,150,173],"framework":[84],"design":[87,100],"system":[91,133,183],"at":[92],"UC":[93],"Berkeley.":[94],"used":[98],"exoskeleton":[102,211],"degrees":[103],"freedom":[105],"size":[107],"its":[108,138,214],"actuators.":[109],"It":[110],"will":[111],"then":[112],"give":[113],"an":[114,188],"overview":[115],"one":[117],"control":[120,127,157],"schemes":[121],"implemented":[122],"on":[123],"BLEEX.":[125],"The":[126,156],"algorithm":[128,158],"described":[129],"here":[130],"increases":[131],"closed":[134],"loop":[135,190],"sensitivity":[136,201],"wearer\u2019s":[139,204],"forces":[140,205],"torques":[142,207],"without":[143],"any":[144],"measurement":[145],"from":[146],"wearer":[148],"(such":[149],"force,":[151],"position,":[152],"electromyogram":[154],"signal).":[155],"uses":[159],"inverse":[161],"dynamics":[162],"exoskeleton,":[165],"scaled":[166],"by":[167],"number":[169],"smaller":[170,193],"than":[171,194],"unity,":[172],"positive":[175],"feedback":[176],"controller.":[177],"controller":[179],"almost":[180],"destabilizes":[181],"since":[184],"it":[185],"leads":[186],"overall":[189],"gain":[191],"slightly":[192],"unity":[195],"results":[197],"large":[200],"all":[203],"thereby":[208],"allowing":[209],"shadow":[213],"wearer.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":7}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}