{"id":"https://openalex.org/W3204344637","doi":"https://doi.org/10.1109/access.2021.3115956","title":"Recent Development of Unpowered Exoskeletons for Lower Extremity: A Survey","display_name":"Recent Development of Unpowered Exoskeletons for Lower Extremity: A Survey","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3204344637","doi":"https://doi.org/10.1109/access.2021.3115956","mag":"3204344637"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3115956","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115956","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09550777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09550777.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100392843","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0002-4879-0211"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA","State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":"https://orcid.org/0000-0002-4879-0211","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA","institution_ids":["https://openalex.org/I155781252"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045324804","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0002-2797-0264"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":"https://orcid.org/0000-0002-2797-0264","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392877","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0002-8612-0745"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA","State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China"],"raw_orcid":"https://orcid.org/0000-0002-8612-0745","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA","institution_ids":["https://openalex.org/I155781252"]},{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013287421","display_name":"Michael Pecht","orcid":"https://orcid.org/0000-0003-1126-8662"},"institutions":[{"id":"https://openalex.org/I4210156197","display_name":"Life Cycle Engineering (United States)","ror":"https://ror.org/056hm0802","country_code":"US","type":"company","lineage":["https://openalex.org/I4210156197"]},{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael G. Pecht","raw_affiliation_strings":["Center for Advanced Life Cycle Engineering, University of Maryland, College Park, CO 20742, USA"],"raw_orcid":"https://orcid.org/0000-0003-1126-8662","affiliations":[{"raw_affiliation_string":"Center for Advanced Life Cycle Engineering, University of Maryland, College Park, CO 20742, USA","institution_ids":["https://openalex.org/I4210156197","https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9929,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.72832014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"138042","last_page":"138056"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9894000291824341,"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/T10925","display_name":"Spinal Cord Injury Research","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic 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/exoskeleton","display_name":"Exoskeleton","score":0.9141870141029358},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.6818223595619202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410801410675049},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4601495862007141},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4278392791748047},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39210131764411926},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.36042287945747375},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33979061245918274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18992513418197632},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18809476494789124},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15868765115737915}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9141870141029358},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.6818223595619202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410801410675049},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4601495862007141},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4278392791748047},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39210131764411926},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.36042287945747375},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33979061245918274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18992513418197632},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18809476494789124},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15868765115737915},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3115956","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115956","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09550777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d1de81d51b0b4284809daa474250a8a7","is_oa":true,"landing_page_url":"https://doaj.org/article/d1de81d51b0b4284809daa474250a8a7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 138042-138056 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3115956","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3115956","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09550777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G232111286","display_name":null,"funder_award_id":"2018QNA4004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3498462245","display_name":null,"funder_award_id":"LZ20E050002","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G5224994639","display_name":null,"funder_award_id":"52175033","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6734120241","display_name":null,"funder_award_id":"Grant No. LZ20E050002","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G8961421619","display_name":null,"funder_award_id":"51775485","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3204344637.pdf","grobid_xml":"https://content.openalex.org/works/W3204344637.grobid-xml"},"referenced_works_count":100,"referenced_works":["https://openalex.org/W1652169352","https://openalex.org/W1874450194","https://openalex.org/W1964212521","https://openalex.org/W1966230003","https://openalex.org/W1973299365","https://openalex.org/W1976143003","https://openalex.org/W1978304006","https://openalex.org/W1980872267","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W1997635873","https://openalex.org/W2005309949","https://openalex.org/W2013490012","https://openalex.org/W2014066602","https://openalex.org/W2015244452","https://openalex.org/W2015324860","https://openalex.org/W2016102421","https://openalex.org/W2033217172","https://openalex.org/W2036335744","https://openalex.org/W2052232537","https://openalex.org/W2054993330","https://openalex.org/W2057629317","https://openalex.org/W2058074226","https://openalex.org/W2071307076","https://openalex.org/W2075135730","https://openalex.org/W2080826208","https://openalex.org/W2097311579","https://openalex.org/W2098074145","https://openalex.org/W2102046115","https://openalex.org/W2104282725","https://openalex.org/W2115334118","https://openalex.org/W2122903487","https://openalex.org/W2128532136","https://openalex.org/W2129754669","https://openalex.org/W2131844306","https://openalex.org/W2135079799","https://openalex.org/W2136216894","https://openalex.org/W2138347979","https://openalex.org/W2142132924","https://openalex.org/W2146469560","https://openalex.org/W2147988336","https://openalex.org/W2152716350","https://openalex.org/W2156378823","https://openalex.org/W2161538281","https://openalex.org/W2163668399","https://openalex.org/W2166978470","https://openalex.org/W2172078093","https://openalex.org/W2288935898","https://openalex.org/W2341171179","https://openalex.org/W2418295831","https://openalex.org/W2470825436","https://openalex.org/W2519283593","https://openalex.org/W2522365874","https://openalex.org/W2525331116","https://openalex.org/W2537046658","https://openalex.org/W2559621945","https://openalex.org/W2559959938","https://openalex.org/W2560658338","https://openalex.org/W2567984274","https://openalex.org/W2588279345","https://openalex.org/W2626450625","https://openalex.org/W2732116849","https://openalex.org/W2742152397","https://openalex.org/W2788331089","https://openalex.org/W2801902333","https://openalex.org/W2807533077","https://openalex.org/W2883315882","https://openalex.org/W2888486990","https://openalex.org/W2892699144","https://openalex.org/W2893020384","https://openalex.org/W2900298760","https://openalex.org/W2910235279","https://openalex.org/W2911028283","https://openalex.org/W2922515478","https://openalex.org/W2966070837","https://openalex.org/W2971407181","https://openalex.org/W2980570059","https://openalex.org/W2991874015","https://openalex.org/W2995615656","https://openalex.org/W3009118398","https://openalex.org/W3012966102","https://openalex.org/W3013683795","https://openalex.org/W3014992960","https://openalex.org/W3017491646","https://openalex.org/W3022703758","https://openalex.org/W3025923992","https://openalex.org/W3035656762","https://openalex.org/W3040036464","https://openalex.org/W3049064241","https://openalex.org/W3110315120","https://openalex.org/W3119595949","https://openalex.org/W3120028572","https://openalex.org/W3134121191","https://openalex.org/W3141592708","https://openalex.org/W3153139294","https://openalex.org/W4237591687","https://openalex.org/W6649845756","https://openalex.org/W6786645599","https://openalex.org/W6788674027","https://openalex.org/W6794147067"],"related_works":["https://openalex.org/W107105315","https://openalex.org/W1584537303","https://openalex.org/W4388155270","https://openalex.org/W4367156293","https://openalex.org/W2750549761","https://openalex.org/W1872724644","https://openalex.org/W28826848","https://openalex.org/W2122272819","https://openalex.org/W2887985348","https://openalex.org/W2994151208"],"abstract_inverted_index":{"Unpowered":[0],"exoskeletons":[1,16,116],"(UEs)":[2],"have":[3],"attracted":[4],"extensive":[5],"research":[6],"attentions":[7],"for":[8,50,117],"their":[9],"portability,":[10],"handleability":[11],"and":[12,34,56,79,84,89,102,120],"simplicity.":[13],"However,":[14],"designing":[15,64,99],"without":[17],"any":[18],"active":[19],"actuators":[20],"is":[21,68,107],"a":[22,111],"great":[23],"challenge":[24],"because":[25],"essential":[26],"criteria":[27],"such":[28],"as":[29],"performance":[30],"enhancement,":[31],"low":[32],"impedance,":[33],"comfort":[35],"must":[36],"be":[37],"met.":[38],"This":[39,66,105],"paper":[40],"reviews":[41,91],"the":[42,71,75],"UEs":[43],"researches":[44],"from":[45],"three":[46],"aspects":[47],"including":[48],"modeling":[49],"understanding":[51,113],"gait":[52,97],"pattern,":[53],"mechanical":[54],"designs,":[55],"validation":[57],"methods,":[58],"which":[59],"are":[60,92],"main":[61],"considerations":[62],"of":[63,100],"UEs.":[65],"review":[67,106],"based":[69],"on":[70],"reported":[72],"works":[73],"in":[74],"past":[76],"two":[77],"decades":[78],"underlines":[80],"some":[81],"practical":[82],"opportunities":[83],"challenges.":[85],"Statistical":[86],"data":[87],"analysis":[88],"critical":[90],"stated":[93],"to":[94,109],"understand":[95],"human":[96],"patterns,":[98],"UEs,":[101],"ergonomic":[103],"validation.":[104],"trying":[108],"inspire":[110],"common":[112],"about":[114],"passive":[115],"lower":[118],"extremity":[119],"promote":[121],"discussion":[122],"among":[123],"researchers,":[124],"developers,":[125],"or":[126],"robotic":[127],"practitioners.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}