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Grant support

This research was funded by the Spanish Programa Nacional de Proyectos de Investigacion Fundamental no Orientados, HYBRID (Hybrid Technological Platform for Rehabilitation, Functional Compensation and Training of Gait in Spinal Cord Injury (SCI) Patients) project, reference DPI 2011-28160-C03; by Universidad San Pablo CEU and Banco Santander, under the grant IV Convocatoria de Ayudas a grupos de investigacion precompetitivos; and by Ministerio de Ciencia, Innovacion y Universidades, under the grant Convocatoria Retos Investigacion with project reference RTI2018-097122-A-I00.

Analysis of institutional authors

Urendes ECorresponding AuthorGarcia-Carmona RAuthorRaya RAuthor

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November 30, 2019
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HYBRID: Ambulatory Robotic Gait Trainer with Movement Induction and Partial Weight Support

Publicated to:Sensors. 19 (21): E4773- - 2019-11-01 19(21), DOI: 10.3390/s19214773

Authors: Urendes, Eloy; Asin-Prieto, Guillermo; Ceres, Ramon; Garcia-Carmona, Rodrigo; Raya, Rafael; Pons, Jose L

Affiliations

CSIC Spanish Natl Res Council, Cajal Inst, Neural Rehabil Grp, Madrid 28002, Spain - Author
Department Biomedical Engineering & Department Mechanical Engineering, McCormick School of Engineering, Northwestern University, Evanston, IL 60208, USA. jpons@sralab.org. - Author
Department of Information Systems Engineering, University San Pablo CEU, Boadilla del Monte, 28688 Madrid, Spain. eloyjose.urendesjimenez@ceu.es. - Author
Department of Information Systems Engineering, University San Pablo CEU, Boadilla del Monte, 28688 Madrid, Spain. rafael.rayalopez@ceu.es. - Author
Department of Information Systems Engineering, University San Pablo CEU, Boadilla del Monte, 28688 Madrid, Spain. ramon.ceresruiz@colaborador.ceu.es. - Author
Department of Information Systems Engineering, University San Pablo CEU, Boadilla del Monte, 28688 Madrid, Spain. rodrigo.garciacarmona@ceu.es. - Author
Department of PM&R, Feinberg School of Medicine, Northwestern University, Chicago, IL 60611, USA. jpons@sralab.org. - Author
Legs & Walking AbilityLab, Shirley Ryan AbilityLab, Chicago, IL 60611, USA. jpons@sralab.org. - Author
Neural Rehabilitation Group, Cajal Institute, CSIC-Spanish National Research Council, 28002 Madrid, Spain. guillermo.asin.prieto@csic.es. - Author
Neural Rehabilitation Group, Cajal Institute, CSIC-Spanish National Research Council, 28002 Madrid, Spain. jpons@sralab.org. - Author
Northwestern Univ, Feinberg Sch Med, Dept PM&R, Chicago, IL 60611 USA - Author
Northwestern Univ, McCormick Sch Engn, Dept Biomed Engn, Evanston, IL 60208 USA - Author
Northwestern Univ, McCormick Sch Engn, Dept Mech Engn, Evanston, IL 60208 USA - Author
Shirley Ryan AbilityLab, Legs & Walking AbilityLab, Chicago, IL 60611 USA - Author
Univ San Pablo CEU, Dept Informat Syst Engn, Madrid 28688, Spain - Author
Univ San Pablo CEU, Escuela Politecn Super, Urb Monteprincipe S-N, Madrid 28668, Spain - Author
Universidad CEU San Pablo. ESCUELA POLITECNICA SUPERI. Tecnologias de la Información - Author
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Abstract

Robotic exoskeletons that induce leg movement have proven effective for lower body rehabilitation, but current solutions offer limited gait patterns, lack stabilization, and do not properly stimulate the proprioceptive and balance systems (since the patient remains in place). Partial body weight support (PBWS) systems unload part of the patient's body weight during rehabilitation, improving the locomotive capabilities and minimizing the muscular effort. HYBRID is a complete system that combines a 6DoF lower body exoskeleton (H1) with a PBWS system (REMOVI) to produce a solution apt for clinical practice that offers improves on existing devices, moves with the patient, offers a gait cycle extracted from the kinematic analysis of healthy users, records the session data, and can easily transfer the patient from a wheelchair to standing position. This system was developed with input from therapists, and its response times have been measured to ensure it works swiftly and without a perceptible delay.

Keywords

AssistanceBody weightDesignDisabilityExoskeletonExoskeleton deviceExoskeleton robotGaitGenerationHumansIndividualsInduction of movementsJointsLocomotionLower body rehabilitationLower-limb orthosisMovementPartial weight suspensionRange of motion, articularRecoveryRobotic rehabilitationRoboticsSpinal-cord-injuryTherapyTrainerUser-computer interface

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Sensors due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2019, it was in position 15/64, thus managing to position itself as a Q1 (Primer Cuartil), in the category Instruments & Instrumentation.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 2.88, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-04, the following number of citations:

  • WoS: 10
  • Scopus: 12
  • Europe PMC: 2

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-04:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 60 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: United States of America.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (URENDES JIMENEZ, ELOY JOSE) .

the author responsible for correspondence tasks has been URENDES JIMENEZ, ELOY JOSE.