{"id":"https://openalex.org/W2980446035","doi":"https://doi.org/10.1109/aim.2019.8868903","title":"Design and Modelling of a Compliant Ankle Rehabilitation Robot Redundantly Driven by Pneumatic Muscles","display_name":"Design and Modelling of a Compliant Ankle Rehabilitation Robot Redundantly Driven by Pneumatic Muscles","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980446035","doi":"https://doi.org/10.1109/aim.2019.8868903","mag":"2980446035"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868903","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5088723765","display_name":"Wei Meng","orcid":"https://orcid.org/0000-0003-0209-8753"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wei Meng","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076601667","display_name":"Chengxiang Zhu","orcid":"https://orcid.org/0000-0002-4275-6952"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengxiang Zhu","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010245248","display_name":"Jie Zuo","orcid":"https://orcid.org/0000-0002-9167-6780"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zuo","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091654425","display_name":"Qingsong Ai","orcid":"https://orcid.org/0000-0003-4283-2289"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingsong Ai","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414577","display_name":"Quan Liu","orcid":"https://orcid.org/0000-0002-9036-0290"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Liu","raw_affiliation_strings":["School of Information Engineering, Wuhan University of Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035866142","display_name":"Sheng Quan Xie","orcid":"https://orcid.org/0000-0003-2641-2620"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sheng Q. Xie","raw_affiliation_strings":["School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5088723765"],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":0.2989,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56586043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"459","last_page":"464"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9987999796867371,"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/T10455","display_name":"Foot and Ankle Surgery","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9894000291824341,"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/robot","display_name":"Robot","score":0.6519463062286377},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5050235390663147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48644447326660156},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.46885189414024353},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.38086193799972534},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.128402978181839},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12300893664360046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10694730281829834},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06700441241264343}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6519463062286377},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5050235390663147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48644447326660156},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.46885189414024353},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.38086193799972534},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.128402978181839},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12300893664360046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10694730281829834},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06700441241264343}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2019.8868903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868903","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:154168","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"No poverty","id":"https://metadata.un.org/sdg/1","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W206406269","https://openalex.org/W1546232195","https://openalex.org/W2000616516","https://openalex.org/W2024152672","https://openalex.org/W2026500972","https://openalex.org/W2032750300","https://openalex.org/W2039059284","https://openalex.org/W2060761169","https://openalex.org/W2062939404","https://openalex.org/W2086541014","https://openalex.org/W2092912577","https://openalex.org/W2115311351","https://openalex.org/W2124249874","https://openalex.org/W2154383940","https://openalex.org/W2175243926","https://openalex.org/W2343277025","https://openalex.org/W2343472016","https://openalex.org/W2491128676","https://openalex.org/W2513420276","https://openalex.org/W2537878323","https://openalex.org/W2583278904","https://openalex.org/W2727968324","https://openalex.org/W2737156933","https://openalex.org/W2743463877","https://openalex.org/W2772360900","https://openalex.org/W2979538781","https://openalex.org/W6608312073","https://openalex.org/W6732370863","https://openalex.org/W6742367449"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2104185603","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2056518890","https://openalex.org/W2411349177","https://openalex.org/W2258092894"],"abstract_inverted_index":{"Ankle":[0],"sprains":[1],"are":[2,40,132],"the":[3,11,16,34,99,113,117,123,129,160,177,183,192,195],"most":[4,32],"common":[5],"type":[6,136],"of":[7,18,33,52,55,69,84,116,128,137,166,182],"ankle":[8,37,71,91,130,138,153],"injuries":[9],"for":[10,27,89],"general":[12],"public.":[13],"Due":[14],"to":[15,80,98,168,188],"lack":[17,54],"human":[19,90],"manual":[20],"therapy":[21],"resources,":[22],"it":[23],"is":[24,142,148,186],"highly":[25],"demanding":[26],"robot-assisted":[28],"rehabilitation":[29,72,126,139,184],"training.":[30,175],"However,":[31],"current":[35],"robotic":[36],"rehab":[38],"devices":[39],"driven":[41,75,144,158],"by":[42,76,145,159],"rigid":[43],"actuators":[44],"and":[45,57,59,86,95,106,125,150,173,179,190,194],"have":[46],"problems":[47],"such":[48],"as":[49,120,122],"limited":[50],"degrees":[51,165],"freedom,":[53],"safety":[56,94],"compliance":[58],"poor":[60],"flexibility.":[61],"This":[62],"paper":[63],"will":[64],"design":[65,193],"a":[66],"new":[67,135],"version":[68],"compliant":[70],"robot":[73,140,161,185],"redundantly":[74,143],"pneumatic":[77],"muscles":[78],"(PMs)":[79],"provide":[81],"full":[82,163],"range":[83],"motion":[85],"torque":[87],"ability":[88],"with":[92,162],"enhanced":[93],"adaptability,":[96],"attributing":[97],"PM's":[100],"high":[101],"power/mass":[102],"ratio,":[103],"good":[104],"flexibility":[105],"light":[107],"weight":[108],"advantages.":[109],"In":[110],"this":[111],"paper,":[112],"driving":[114],"characteristics":[115],"PM":[118],"actuators,":[119],"well":[121],"kinematics":[124,178],"requirements":[127],"joint":[131,154],"analyzed.":[133],"A":[134],"that":[141],"five":[146],"PMs":[147],"designed":[149],"modeled.":[151],"The":[152],"can":[155],"be":[156],"compliantly":[157],"three":[164],"freedom":[167],"perform":[169],"dorsiflexion/plantarflexion,":[170],"inversion/":[171],"eversion":[172],"adduction/abduction":[174],"Then":[176],"dynamics":[180],"model":[181],"established":[187],"validate":[189],"verify":[191],"models.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
