{"id":"https://openalex.org/W4414529420","doi":"https://doi.org/10.1017/s0263574725102142","title":"Design and analysis of an adaptive cable-driven knee unloading exoskeleton based on a rhombus linkage mechanism","display_name":"Design and analysis of an adaptive cable-driven knee unloading exoskeleton based on a rhombus linkage mechanism","publication_year":2025,"publication_date":"2025-09-25","ids":{"openalex":"https://openalex.org/W4414529420","doi":"https://doi.org/10.1017/s0263574725102142"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102142","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102142","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5111556565","display_name":"Yu Gang Guo","orcid":"https://orcid.org/0009-0004-4271-9897"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["Yanshan University","Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0004-4271-9897","affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiao Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Yang","raw_affiliation_strings":["Yanshan University","Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101966092","display_name":"Ziming Chen","orcid":"https://orcid.org/0000-0002-5463-4055"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziming Chen","raw_affiliation_strings":["Yanshan University","School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115393947","display_name":"Xiangyu Yan","orcid":"https://orcid.org/0000-0002-7216-0420"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Yan","raw_affiliation_strings":["Yanshan University","Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yanshan University","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115590326","display_name":"Fei Liu","orcid":"https://orcid.org/0009-0005-0576-440X"},"institutions":[{"id":"https://openalex.org/I4210164246","display_name":"First Hospital of Qinhuangdao","ror":"https://ror.org/05pmkqv04","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164246"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["First Hospital of Qinhuangdao","Department of Orthopaedics, First Hospital of Qinhuangdao, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"First Hospital of Qinhuangdao","institution_ids":["https://openalex.org/I4210164246"]},{"raw_affiliation_string":"Department of Orthopaedics, First Hospital of Qinhuangdao, Qinhuangdao, China","institution_ids":["https://openalex.org/I4210164246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101966092"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":1.0618,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78365567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"43","issue":"10","first_page":"3461","last_page":"3487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9799000024795532,"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":0.9783999919891357,"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":0.947700023651123},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7922000288963318},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.5110999941825867},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.508400022983551},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.41830000281333923},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.4007999897003174},{"id":"https://openalex.org/keywords/rhombus","display_name":"Rhombus","score":0.39750000834465027},{"id":"https://openalex.org/keywords/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.3682999908924103},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.36169999837875366}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.947700023651123},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7922000288963318},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5264000296592712},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.5110999941825867},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.508400022983551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45739999413490295},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41749998927116394},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C161903591","wikidata":"https://www.wikidata.org/wiki/Q41159","display_name":"Rhombus","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.3682999908924103},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.35589998960494995},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.34599998593330383},{"id":"https://openalex.org/C63316402","wikidata":"https://www.wikidata.org/wiki/Q862003","display_name":"Universal joint","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3312000036239624},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.31130000948905945},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3050000071525574},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.2881999909877777},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C2779018429","wikidata":"https://www.wikidata.org/wiki/Q129757","display_name":"Thigh","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102142","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102142","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1978733764","https://openalex.org/W1991218049","https://openalex.org/W2024723651","https://openalex.org/W2038630298","https://openalex.org/W2069152157","https://openalex.org/W2074223821","https://openalex.org/W2136709627","https://openalex.org/W2169410184","https://openalex.org/W2169664468","https://openalex.org/W2172078093","https://openalex.org/W2469426846","https://openalex.org/W2489806784","https://openalex.org/W2535132276","https://openalex.org/W2793248880","https://openalex.org/W2909237169","https://openalex.org/W2912064605","https://openalex.org/W2974688367","https://openalex.org/W3022827041","https://openalex.org/W3039115210","https://openalex.org/W3185880748","https://openalex.org/W3199828279","https://openalex.org/W4205270577","https://openalex.org/W4207006468","https://openalex.org/W4255167014","https://openalex.org/W4285119202","https://openalex.org/W4311846694","https://openalex.org/W4318954085","https://openalex.org/W4324138291","https://openalex.org/W4381617447","https://openalex.org/W4385798749","https://openalex.org/W4387429571","https://openalex.org/W4387682303","https://openalex.org/W4387977085","https://openalex.org/W4390905653","https://openalex.org/W4390933837","https://openalex.org/W4399562646","https://openalex.org/W4401111487","https://openalex.org/W4401246695","https://openalex.org/W4402571430","https://openalex.org/W4402695152","https://openalex.org/W4403483825","https://openalex.org/W4403948655","https://openalex.org/W4404305449","https://openalex.org/W4405517091","https://openalex.org/W4409341472"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Biomechanical":[1],"intervention":[2],"on":[3,87],"lower":[4],"limb":[5],"joints":[6],"using":[7],"exoskeletons":[8],"to":[9,76,143],"reduce":[10],"joint":[11,41,84,247],"loads":[12],"and":[13,27,39,103,113,120,138,163,170,186],"provide":[14,77],"walking":[15],"assistance":[16],"has":[17],"become":[18],"a":[19,47,72,139,220],"research":[20],"hotspot":[21],"in":[22,172],"the":[23,32,63,88,91,97,104,114,118,121,133,145,148,154,180,194,205,237],"fields":[24],"of":[25,34,54,93,96,117,132,147,153,224,250],"rehabilitation":[26],"elderly":[28],"care.":[29],"To":[30],"address":[31],"challenges":[33],"human-exoskeleton":[35],"(H-E)":[36],"kinematic":[37,115,124],"compatibility":[38],"knee":[40,56,65,83],"unloading":[42],"demands,":[43],"this":[44],"study":[45],"proposes":[46],"novel":[48],"rhombus":[49],"linkage":[50],"exoskeleton":[51,68,98,119,181,195],"mechanism":[52,99,107],"capable":[53],"adaptive":[55],"motion":[57,244],"without":[58],"requiring":[59],"precise":[60],"alignment":[61],"with":[62,199,233,241],"human":[64,200,243],"axis.":[66],"The":[67,150,175],"is":[69],"driven":[70],"by":[71],"Bowden":[73,207],"cable":[74,208],"system":[75,135,156,182],"thigh":[78],"support,":[79],"thereby":[80],"achieving":[81,219],"effective":[82],"unloading.":[85],"Based":[86],"screw":[89],"theory,":[90],"degrees":[92],"freedom":[94],"(DOF)":[95],"(DOF":[100,108],"=":[101,109],"3)":[102],"H-E":[105,122],"closed-loop":[106,123],"1)":[110],"were":[111,126,157],"analyzed,":[112],"model":[116,125,131],"established,":[127],"respectively.":[128],"A":[129,166],"mechanical":[130],"driving":[134],"was":[136,141,168,212],"developed,":[137],"simulation":[140],"conducted":[142],"validate":[144],"accuracy":[146],"model.":[149],"output":[151,209],"characteristics":[152],"cable-driven":[155],"investigated":[158],"under":[159],"varying":[160],"bending":[161,164],"angles":[162],"times.":[165],"prototype":[167],"fabricated":[169],"tested":[171],"wearable":[173],"scenarios.":[174],"experimental":[176],"results":[177],"demonstrate":[178],"that":[179,193],"exhibits":[183],"excellent":[184],"biocompatibility":[185],"weight-bearing":[187],"support":[188,222],"capability.":[189],"Compatibility":[190],"tests":[191],"confirm":[192],"does":[196],"not":[197],"interfere":[198],"motion.":[201],"Through":[202],"human-in-the-loop":[203],"optimization,":[204],"optimal":[206],"force":[210,223],"profile":[211],"obtained,":[213],"which":[214],"minimizes":[215],"gait":[216],"impact":[217],"while":[218],"peak":[221],"195.8":[225],"N":[226],".":[227],"Further":[228],"validation":[229],"from":[230],"wear":[231],"trials":[232],"five":[234],"subjects":[235],"confirms":[236],"system\u2019s":[238],"low":[239],"interference":[240],"natural":[242],"(maximum":[245],"lower-limb":[246],"angle":[248],"deviation":[249],"only":[251],"$8^\\circ$":[252],").":[253]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
