{"id":"https://openalex.org/W2105601634","doi":"https://doi.org/10.1177/0278364910385730","title":"Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation","display_name":"Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation","publication_year":2010,"publication_date":"2010-12-07","ids":{"openalex":"https://openalex.org/W2105601634","doi":"https://doi.org/10.1177/0278364910385730","mag":"2105601634"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910385730","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910385730","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/A5074478780","display_name":"Gabriel Aguirre-Ollinger","orcid":"https://orcid.org/0000-0003-3834-9171"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Gabriel Aguirre-Ollinger","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA,"],"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA,","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006798050","display_name":"J. Edward Colgate","orcid":"https://orcid.org/0000-0002-2577-2715"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Edward Colgate","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091276611","display_name":"Michael A. Peshkin","orcid":"https://orcid.org/0000-0001-6126-3320"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael A. Peshkin","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065501675","display_name":"Ambarish Goswami","orcid":"https://orcid.org/0009-0003-3066-8562"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ambarish Goswami","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074478780"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":2.9559,"has_fulltext":false,"cited_by_count":136,"citation_normalized_percentile":{"value":0.90816409,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"30","issue":"4","first_page":"486","last_page":"499"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9986000061035156,"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":0.9962000250816345,"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":0.9109816551208496},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.8788461685180664},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7295907139778137},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6114324927330017},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5839394330978394},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5646018981933594},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4882810115814209},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4144750237464905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.394155889749527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38337254524230957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3546906113624573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16052263975143433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14436075091362},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13412600755691528},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0763024091720581}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9109816551208496},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.8788461685180664},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7295907139778137},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6114324927330017},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5839394330978394},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5646018981933594},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4882810115814209},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4144750237464905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.394155889749527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38337254524230957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3546906113624573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16052263975143433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14436075091362},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13412600755691528},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0763024091720581},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364910385730","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910385730","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/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W286264046","https://openalex.org/W1510441903","https://openalex.org/W1586251222","https://openalex.org/W1974357213","https://openalex.org/W2007221293","https://openalex.org/W2009300841","https://openalex.org/W2010561502","https://openalex.org/W2038609344","https://openalex.org/W2042992073","https://openalex.org/W2046998465","https://openalex.org/W2049226353","https://openalex.org/W2064924211","https://openalex.org/W2074524774","https://openalex.org/W2080487795","https://openalex.org/W2081814343","https://openalex.org/W2100030191","https://openalex.org/W2104536749","https://openalex.org/W2105637477","https://openalex.org/W2114702494","https://openalex.org/W2127149049","https://openalex.org/W2138300314","https://openalex.org/W2141502545","https://openalex.org/W2144781570","https://openalex.org/W2153422209","https://openalex.org/W2155176283","https://openalex.org/W2160060605","https://openalex.org/W2163208146","https://openalex.org/W2166869394","https://openalex.org/W2167286584","https://openalex.org/W2168224345","https://openalex.org/W2170103176","https://openalex.org/W3142707146","https://openalex.org/W4205531611","https://openalex.org/W4238127322","https://openalex.org/W4251729721","https://openalex.org/W4365800068"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W2113788199"],"abstract_inverted_index":{"Limited":[0],"research":[1],"has":[2],"been":[3],"done":[4],"on":[5,140],"exoskeletons":[6],"to":[7,28,39,55,98,193],"enable":[8],"faster":[9],"movements":[10,149],"of":[11,50,71,82,89,105,118,150,167,181,198],"the":[12,29,47,51,79,83,90,101,106,133,138,151,162,165,178,182],"lower":[13,56],"extremities.":[14],"An":[15],"exoskeleton\u2019s":[16,73],"mechanism":[17],"can":[18],"actually":[19],"hinder":[20],"agility":[21],"by":[22,112,123],"adding":[23,113],"weight,":[24],"inertia":[25,32,44,131,176,189],"and":[26,103,159],"friction":[27,104],"legs;":[30],"compensating":[31],"through":[33],"control":[34,64,97],"is":[35,77,110],"particularly":[36],"difficult":[37],"due":[38],"instability":[40],"issues.":[41],"The":[42,75,93],"added":[43],"will":[45],"reduce":[46],"natural":[48,80],"frequency":[49,58,81,180,197],"legs,":[52],"probably":[53],"leading":[54],"step":[57],"during":[59],"walking.":[60],"We":[61,136],"present":[62],"a":[63,114,124,141,168,172],"method":[65,94],"that":[66,88,146],"produces":[67],"an":[68,72],"approximate":[69],"compensation":[70,109,190],"inertia.":[74],"aim":[76],"making":[78],"exoskeleton-assisted":[84],"leg":[85,183],"larger":[86],"than":[87],"unaided":[91],"leg.":[92,152],"uses":[95],"admittance":[96],"compensate":[99],"for":[100],"weight":[102],"exoskeleton.":[107],"Inertia":[108],"emulated":[111],"feedback":[115],"loop":[116],"consisting":[117],"low-pass":[119],"filtered":[120],"acceleration":[121],"multiplied":[122],"negative":[125,130],"gain.":[126],"This":[127],"gain":[128],"simulates":[129],"in":[132,164],"low-frequency":[134],"range.":[135],"tested":[137],"controller":[139],"statically":[142],"supported,":[143],"single-degree-of-freedom":[144],"exoskeleton":[145],"assists":[147],"swing":[148,184],"Subjects":[153],"performed":[154],"movement":[155],"sequences,":[156],"first":[157],"unassisted":[158],"then":[160],"using":[161],"exoskeleton,":[163],"context":[166],"computer-based":[169],"task":[170],"resembling":[171],"race.":[173],"With":[174],"zero":[175],"compensation,":[177],"steady-state":[179],"was":[185],"consistently":[186],"reduced.":[187],"Adding":[188],"enabled":[191],"subjects":[192],"recover":[194],"their":[195],"normal":[196],"swing.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2026-02-26T08:16:20.718346","created_date":"2025-10-10T00:00:00"}