{"id":"https://openalex.org/W4407157275","doi":"https://doi.org/10.3390/robotics14020020","title":"Effects of Independent Links of the Lower Leg on the Ankle Joint in Walking Assistance","display_name":"Effects of Independent Links of the Lower Leg on the Ankle Joint in Walking Assistance","publication_year":2025,"publication_date":"2025-02-05","ids":{"openalex":"https://openalex.org/W4407157275","doi":"https://doi.org/10.3390/robotics14020020"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14020020","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14020020","pdf_url":"https://www.mdpi.com/2218-6581/14/2/20/pdf?version=1739409825","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/2/20/pdf?version=1739409825","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043178465","display_name":"Takamaru Saito","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takamaru Saito","raw_affiliation_strings":["Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan","institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079325757","display_name":"Ming Jiang","orcid":"https://orcid.org/0000-0003-4727-2022"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ming Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan","institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4400009020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055397718","display_name":"Marco Ceccarelli","orcid":"https://orcid.org/0000-0001-9388-4391"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["IT","JP"],"is_corresponding":false,"raw_author_name":"Marco Ceccarelli","raw_affiliation_strings":["International Research Frontiers Initiative, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Tokyo 152-8550, Japan","Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Via del Politecnico 1, 00133 Roma, Italy"],"affiliations":[{"raw_affiliation_string":"International Research Frontiers Initiative, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Tokyo 152-8550, Japan","institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4400009020"]},{"raw_affiliation_string":"Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Via del Politecnico 1, 00133 Roma, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020891237","display_name":"Yukio Takeda","orcid":"https://orcid.org/0000-0002-6910-3329"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]},{"id":"https://openalex.org/I4400009020","display_name":"Institute of Science Tokyo","ror":"https://ror.org/05dqf9946","country_code":null,"type":"education","lineage":["https://openalex.org/I4400009020"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Takeda","raw_affiliation_strings":["Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology (Institute of Science Tokyo), Ookayama Campus, Tokyo 152-8550, Japan","institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4400009020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043178465"],"corresponding_institution_ids":["https://openalex.org/I114531698","https://openalex.org/I4400009020"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.5731,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75811079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"14","issue":"2","first_page":"20","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10455","display_name":"Foot and Ankle Surgery","score":0.8980000019073486,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"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/T10455","display_name":"Foot and Ankle Surgery","score":0.8980000019073486,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"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/ankle","display_name":"Ankle","score":0.7858125567436218},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7171722650527954},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.5402552485466003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3966582417488098},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.37304526567459106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3465980887413025},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2205846905708313},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11996126174926758},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.10293552279472351}],"concepts":[{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.7858125567436218},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7171722650527954},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.5402552485466003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3966582417488098},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.37304526567459106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3465980887413025},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2205846905708313},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11996126174926758},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.10293552279472351}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14020020","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14020020","pdf_url":"https://www.mdpi.com/2218-6581/14/2/20/pdf?version=1739409825","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1d034ce52b0d43db9ef3f0dd924f53a2","is_oa":true,"landing_page_url":"https://doaj.org/article/1d034ce52b0d43db9ef3f0dd924f53a2","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 2, p 20 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14020020","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14020020","pdf_url":"https://www.mdpi.com/2218-6581/14/2/20/pdf?version=1739409825","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1069223013","display_name":null,"funder_award_id":"JSPS KAKENHI","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G2440578970","display_name":null,"funder_award_id":"JPMJSP2106","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3236194794","display_name":null,"funder_award_id":"Grant-in-Aid","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3459562248","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4636223006","display_name":null,"funder_award_id":"JSPS KAK","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4874944895","display_name":null,"funder_award_id":"-in-Aid","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G5396239172","display_name":null,"funder_award_id":"Grant-in-Aid for JSPS Fellows","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G5879513476","display_name":"Realization of a walking assistance system for simultaneously solving the problems of insufficient ankle joint range of motion and ankle torque","funder_award_id":"24KJ1072","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7752643416","display_name":null,"funder_award_id":"Japan","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G8430481527","display_name":null,"funder_award_id":"Number","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407157275.pdf","grobid_xml":"https://content.openalex.org/works/W4407157275.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1933302339","https://openalex.org/W2019303851","https://openalex.org/W2025311905","https://openalex.org/W2033299989","https://openalex.org/W2040037232","https://openalex.org/W2090190159","https://openalex.org/W2094230879","https://openalex.org/W2121039301","https://openalex.org/W2140571225","https://openalex.org/W2148380797","https://openalex.org/W2292153405","https://openalex.org/W2460265655","https://openalex.org/W2550897469","https://openalex.org/W2810902424","https://openalex.org/W3001361306","https://openalex.org/W3034955679","https://openalex.org/W3044098882","https://openalex.org/W3166337661","https://openalex.org/W4205299294","https://openalex.org/W6603575069"],"related_works":["https://openalex.org/W2056518890","https://openalex.org/W2356887275","https://openalex.org/W2966270549","https://openalex.org/W2158386141","https://openalex.org/W2131951563","https://openalex.org/W4245580097","https://openalex.org/W3029574114","https://openalex.org/W2896517724","https://openalex.org/W2986995742","https://openalex.org/W2042853044"],"abstract_inverted_index":{"There":[0],"is":[1,36,116,124,174],"an":[2,43],"urgent":[3],"need":[4],"for":[5,13],"a":[6,33,40,120],"gait":[7,17],"assisting":[8,122],"device":[9,41,79],"that":[10,76,110,119,163,171],"simultaneously":[11],"compensates":[12],"the":[14,48,53,56,64,73,77,101,113,141,166,192],"loss":[15],"of":[16,27,55,72,100,143],"function":[18],"reducing":[19],"ankle":[20,49,60,85,102,132,150,182],"plantarflexion":[21,90],"torque":[22,62,123,133,172,184],"and":[23,63,88,118,170],"limited":[24,84,114],"dorsiflexion":[25,86,97,151],"range":[26,67],"motion":[28,66],"(ROM).":[29],"In":[30],"this":[31,144,196],"work,":[32],"walking":[34,111,164],"assistance":[35,173],"proposed":[37,78,193],"by":[38,126,138,176,189],"using":[39],"with":[42,83,95,148],"independent":[44,57],"link":[45,58,129,179],"attached":[46],"on":[47,59],"joint.":[50],"We":[51],"investigated":[52],"effect":[54],"joint":[61,103,183],"assisted":[65],"via":[68],"analysis.":[69],"The":[70,131,181],"results":[71],"analysis":[74],"revealed":[75],"could":[80],"assist":[81],"patients":[82,94,147],"ROM":[87,98,115,152,167],"low":[89],"strength":[91],"simultaneously.":[92],"For":[93,146],"mild":[96],"limitation":[99,153],"(7\u00b0":[104],"or":[105,155,158],"more),":[106],"it":[107,160],"was":[108,161,168],"found":[109,162],"within":[112,165],"possible":[117,125,169,175],"large":[121],"front":[127],"side":[128,178],"assistance.":[130,180],"load":[134,185],"can":[135,186],"be":[136,187],"reduced":[137,188],"60%":[139],"under":[140,191],"conditions":[142,194],"work.":[145,197],"severe":[149],"(2\u00b0":[154],"more,":[156],"6\u00b0":[157],"less),":[159],"back":[177],"30%":[190],"in":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}